MPC
WangLu180 opened this issue · 12 comments
请问如果要把纯跟踪改为mpc，除了修改control下的config的yaml文件controller设置为mpc，对fssim还需要其他更改吗？
不需要，直接运行就可以
直接运行在控制终端会有以下报错：
process[control_node-1]: started with pid [5739]
[ INFO] [1618891182.414953976]: Constructing Handle
[ INFO] [1618891182.416433667]: loading handle parameters
[ WARN] [1618891182.424500572]: Did not load transform_matrix_topic_name. Standard value is: /transform_matrix
[ WARN] [1618891182.425235119]: Did not load end_point_topic_name. Standard value is: /planning/end_point
[ INFO] [1618891182.434396217]: subscribe to topics
[ INFO] [1618891182.466040792]: publish to topics
[ WARN] [1618891182.489174073]: Local Map Empty !
[ WARN] [1618891182.489208160]: Check Error
time cost = 0.000126368, frequency = 7913.4
[ WARN] [1618891182.611583323, 1352.027000000]: Local Map Empty !
[ WARN] [1618891182.611655554, 1352.027000000]: Check Error
time cost = 0.000124684, frequency = 8020.28
[ INFO] [1618891182.734719368, 1352.122000000]: set state
[ INFO] [1618891182.735202127, 1352.122000000]: finish set state
[ INFO] [1618891182.735656000, 1352.122000000]: set solver trajectory
[ INFO] [1618891182.736094904, 1352.122000000]: begin solve
fg: 241
vars: 318
Cost 6.95312e-310
cppad-20180000.0 error from a known source:
vector: index greater than or equal vector size
Error detected by false result for
i < length_
at line 476 in the file
/usr/include/cppad/utility/vector.hpp
control: /usr/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char*, const char*, const char*): Assertion `false' failed.
[control_node-1] process has died [pid 5739, exit code -6, cmd /home/luwang/catkin_qw/devel/lib/control/control __name:=control_node __log:=/home/luwang/.ros/log/c576ebbc-a18c-11eb-bdd0-98541b1c7b0e/control_node-1.log].
log file: /home/luwang/.ros/log/c576ebbc-a18c-11eb-bdd0-98541b1c7b0e/control_node-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
请问该如何解决那？十分感谢
请使用script文件夹下的ipopt安装脚本使用sudo bash进行安装
你好，我也遇到了同样的问题，而且script文件夹下的ipopt安装脚本使用sudo bash进行安装，依然会出现相同报错，请问有什么解决办法么，非常感谢。
我测试的时候遇到过一模一样的错误，方便留下联系方式吗，我是通过重装ipopt解决的，可以尝试将install_ipopt.bash里的命令在命令行中单独运行，应该会有其他的报错提示
出现报错后我也是使用script下脚本安装，但是提示已安装运行还是报错，之后将ipopt删除重装，关于ipopt的报错解决，但是主算法编译又出现了问题，提示ipopt缺少内容
出现报错后我也是使用script下脚本安装，但是提示已安装运行还是报错，之后将ipopt删除重装，关于ipopt的报错解决，但是主算法编译又出现了问题，提示ipopt缺少内容
缺少BLAS Lapack ASL MUMPS之类的吗
非常感谢，我用该脚本重新安装ipopt后解决了，同时安装过程参考了https://github.com/udacity/CarND-MPC-Quizzes/blob/master/install_Ipopt_CppAD.md，提供给有需求的人
非常感谢，我用该脚本重新安装ipopt后解决了，同时安装过程参考了https://github.com/udacity/CarND-MPC-Quizzes/blob/master/install_Ipopt_CppAD.md，提供给有需求的人
好的非常感谢，应该是我们测试的时候出现疏忽。
Hi @WangLu180
We hope to discuss the algorithm on GitHub so that more people can see it. Right now we have no plan to set up a group.
Best Tairan Chen
@chentairan All right.You have thought comprehensively. Thank you.