Controller Testing

This package contains launch files, param and scripts for running simulted controller tests with dynamic vehicle model, and generate plots

Params

• MPC controller config mpc_controller_nodes/param/defaults.yaml
• Test and simulation config controller_testing/param/defaults.param.yaml

Usage

• MPC

  ros2 launch controller_testing controller_testing_node_mpc.launch.py real_time_sim:=True with_rviz:=True

• Pure Pursuit

  ros2 launch controller_testing controller_testing_node_pure_pursuit.launch.py real_time_sim:=True with_rviz:=True

• For faster than realtime use, change arguments into real_time_sim:=False and with_rviz=False.