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Refactor cbit #221

Merged
merged 57 commits into from
Jul 29, 2024
Merged

Refactor cbit #221

merged 57 commits into from
Jul 29, 2024

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a-krawciw
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@a-krawciw
Remove cbit route checker.
556b29f
@a-krawciw
Change corridor slider to use meters.
02015ed
@a-krawciw
Add error checking to pose graph relaxation.
eada677
@a-krawciw
Change speed schduler to use MPC horizon.
b396073
@a-krawciw
Change pose interpolation.
0ef833b
@a-krawciw
Update ui colours to match slider bar.
3cfb5b6
@a-krawciw
Improve speed scheduling at the start of the path
646e474
@a-krawciw
Modify RViz to show poses along MPC solution.
1bd575d
@a-krawciw
Make all chain accessors const
45bc909
@a-krawciw
Refactor cbit to start and stop based on state machine events.
bb2b4c2 
Change the planning thread creation
@a-krawciw
Remove duplication of getChainInfo
edc91dd
@a-krawciw
Use the timestamp of the last command being sent out instead of time …
1399050 
…of point cloud.
@a-krawciw
Add Path typename rename 2d vectors. Remove unused config param.
073925c
@a-krawciw
Add default values to function to ensure a valid execution path.
b8f4892
@a-krawciw
Remove incorrest weighted L2 loss function
01a28d7
@a-krawciw
Remove maximum iterations.
006daa6
@a-krawciw
Fix casting error with unsigned at start of path
6ced83b
@a-krawciw
Minor reformatting
5d4e3fc
@a-krawciw
Intermediate cleanup of MPC code.
1266aff
@a-krawciw
Imprve start of path speed scheduling (again lol)
1ee0afe
@a-krawciw
Change MPC to roll out poses, instead of optimizing them.
085ab69
@a-krawciw
Minor speed scheduling changes
6d09ea3
@a-krawciw
WIP redo CBITPath
fca92f4
@a-krawciw
Moving towards using log barrier terms
3187d0a
@a-krawciw
Modified MPC to use kinematic constraints. Cleanup still required.
2c269c2
@a-krawciw
Changes towards closed-loop MPC
7547710
@a-krawciw
MPC mjor updates
66e03ac
@a-krawciw
Final commit pre-casadi
7f12df2
@a-krawciw
Finally working well on Warthog!
9af5aa8
@a-krawciw
Cleaning up, removing references to steam
aab976f
a-krawciw and others added 20 commits July 12, 2024 18:51
@a-krawciw
Refactor helper MPC functions into mpc_common
02e4784
@a-krawciw
Remove old speed scheduler code
f8a4f1e
@a-krawciw
Move to fork of casadi for compilation reasons
642faf4
@a-krawciw
Make the angle_weight for pa calculation a config parameter
1b49129
@a-krawciw
Modify cmake to force a header export on every build
b9743ba
@James-R-Han
Add Ouster Jackal configs + add additional visualization/publications…
9be79ef 
… for external navigation
@James-R-Han
Merge branch 'refactor_cbit_init' of github.com:utiasASRL/vtr3 into r…
f48d460 
…efactor_cbit_init
@James-R-Han
add localization index to PathInforForExternalNavigation
ecf77ea
@a-krawciw
Fix error in evaluating so2 error
e493c87
@a-krawciw
Merge branch 'refactor_cbit_init' of github.com:utiasASRL/vtr3 into r…
2e27757 
…efactor_cbit_init
@a-krawciw
Change default corridor settings. Increase minimum to 20cm
c5e8256
@James-R-Han
tuning changes, log addition, timestamp fix
5fda778
@James-R-Han
update jackal visualize flags
42df68c
@a-krawciw
Add profilling options.
ee7041c
@a-krawciw
Merge branch 'refactor_cbit_init' of github.com:utiasASRL/vtr3 into r…
1942ab5 
…efactor_cbit_init
@James-R-Han
tune mpc params
3bdf166
@a-krawciw
Modify preprocessing to reduce computation time
2a4d10c
@a-krawciw
Updated configs to match new MPC
d095ba1
@James-R-Han
reorder reset to potentially fix seg fault
64f4aba
@James-R-Han
Merge branch 'refactor_cbit_init' of github.com:utiasASRL/vtr3 into r…
428919c 
…efactor_cbit_init
@a-krawciw a-krawciw marked this pull request as ready for review July 29, 2024 14:53
@James-R-Han James-R-Han self-requested a review July 29, 2024 15:01
James-R-Han
James-R-Han approved these changes Jul 29, 2024
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The core MPC is working as intended in both simulations and the real world for the jackal and warthog.

Future work includes: resolving segfault error in cbit and automatically exporting the unicycle solver.

@a-krawciw a-krawciw merged commit df9afb7 into main Jul 29, 2024
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@a-krawciw a-krawciw deleted the refactor_cbit_init branch July 29, 2024 20:16
@a-krawciw a-krawciw mentioned this pull request Jul 29, 2024
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@James-R-Han James-R-Han James-R-Han approved these changes

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@a-krawciw @James-R-Han