https://github.com/AlexKaravaev/rust_mpc

Racing mpc controller
https://github.com/AlexKaravaev/rust_mpc

autonomous-racing f1tenth mpc-control ros2-rust rust

Last synced: about 1 month ago
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Racing mpc controller

• Host: GitHub
• URL: https://github.com/AlexKaravaev/rust_mpc
• Owner: AlexKaravaev
• Created: 2022-04-12T23:37:35.000Z (almost 3 years ago)
• Default Branch: main
• Last Pushed: 2022-04-25T19:01:52.000Z (almost 3 years ago)
• Last Synced: 2025-01-12T13:50:56.432Z (about 1 month ago)
• Topics: autonomous-racing, f1tenth, mpc-control, ros2-rust, rust
• Language: Rust
• Homepage:
• Size: 2.93 MB
• Stars: 3
• Watchers: 2
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

• awesome-rust-list - AlexKaravaev/rust_mpc - rust](https://github.com/ros2-rust/ros2_rust). (Motion Control)
• awesome-rust-list - AlexKaravaev/rust_mpc - rust](https://github.com/ros2-rust/ros2_rust). (Motion Control)

README

        
# MPC racing controller made in ros2-rust

![Alt Text](./media/mpc.gif)

This is an example package of using ros2-rust client library

to do some applied robotics task. 

## Dependencies

* [ros2-rust](https://github.com/ros2-rust/ros2_rust)

* [f1tenth-gym](https://github.com/f1tenth/f1tenth_gym)

* [OpEn optimizer](https://alphaville.github.io/optimization-engine/)

## Quickstart

Make sure that you install deps in your workspace.

```bash

cd ws/src

git clone https://github.com/AlexKaravaev/rust_mpc

cd .. && colcon build

```

You can tune mpc controller(for example to include laserscan and obstacles) 

by changing file src/create_solver.py and running ```python3 create_solver.py```

Also there are couple of racing maps included in this repo:

* Monza

* Silverstone

To change the map simply change the name in config/sim.yaml. 

You can download more race tracks from [f1tenth racing repo](https://github.com/f1tenth/f1tenth_racetracks)