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…n mpc_start_setting.h
node.mpc_setting_outputs_.X0
…ion. From original path
Version 0.01
…ent node variables
at this way we can able to find next waypoint and casadi will solve by execute automaticly.
…ll be disabled. It does need yolo implementation. Might be I can run it with directly python script. IDK yet, so I'll check later
also deleted imagecb for now not necessery will be updated when add yolo. Added obstacleDetectionCb this callback listens the obstacles topic and adding the center_x and center_y values, this are using by mpc_running.h and if the obstacles is in the path the djikstra path has been called
this thesis include the details of work but not finished yet.
update readme
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@Renbago Please share a clean version of the simulation in order to merge it. It would be nice to have it clean, without any code. The code, if you want, can be made public and referenced in the clean version. |
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Hello again!,
this version include all of the codes which we used at BFMC-2024.
just small info: includes obstacle detection, traffic light, rviz entegration, robot_localization, non linear mpc for controlling, djikstra for path creating from gaven xml node format, obstacle avoidance, all of the details are accesable.
And i've add my thesis about the project.
Also i have added the cpp version but not fully finished. All of the details are given at readme file.
For testing how this is work you can easily select the docker branch and just follow the Prerequisites
not:
i will also open pr for docker version after this pr.
Have a nice day! waitings your feedback.
(If you don’t accept the provided version, I can delete all the detailed algorithms to ensure fairness for everyone.Instead, I can share a clean version of the Docker environment, which would allow better simulation progress rather than relying on a finished simulation environment., and can share to with bosch as a private repository.)
@BFMC-Rares-Lemnariu
The old KOU-Mekatronom team leader.
Mehmet Baha Dursun