Simple contollers for MuSHR. Code mainly modified from CSE 478 20WI.
More sophisticated Receding Horizon Control is in mushr_rhc.
Contact Gilwoo Lee for questions regarding this repository.
Open 4 terminals, all sourced.
- start the cars
roslaunch mushr_sim teleop.launch- start controller in a new terminal
roslaunch mushr_control mpc_controller.launch car_name:=car- start rviz in a new terminal
rosrun rviz rviz -d config/car.rviz- start the runner script in a new terminal
roslaunch mushr_control runner_script.launch car_name:=car wait_for_signal:=true-
Test one of the tracks by typing 1 ~ 5.
-
Publish messages to start path following
# In a terminal set with rosmaster 11311
rostopic pub /car/start_path_following std_msgs/Bool True