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Add SH-MPC code to mpc_planner #2

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merged 10 commits into from
Jan 9, 2025
Merged

Add SH-MPC code to mpc_planner #2

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bc7ee12
minor updates to integrate jackal better.
oscardegroot Dec 11, 2024
8858285
Add scenario MPC.
oscardegroot Dec 11, 2024
09bc144
update tasks for the jackal.
oscardegroot Dec 11, 2024
b1096fe
update tasks for the jackal.
oscardegroot Dec 11, 2024
f101054
Update dev.yml to use the public dev branch of mpc_planner
oscardegroot Dec 11, 2024
1bdd345
Update repos for SH-MPC release.
oscardegroot Jan 9, 2025
6a194d0
Update dev workflow to take the public planner.
oscardegroot Jan 9, 2025
deacfdd
merge with remote.
oscardegroot Jan 9, 2025
0f46be0
Remove scenario module config from launch file to pass the CI. Should…
oscardegroot Jan 9, 2025
ed5f72d
Merge with missing commit in release main.
oscardegroot Jan 9, 2025
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14 changes: 7 additions & 7 deletions .github/workflows/dev.yml
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Expand Up @@ -21,13 +21,13 @@ jobs:
- name: Disable NVidia runtime in the container
run: sed -i '/"--runtime=nvidia",/d' .devcontainer/devcontainer.json

- name: Checkout private planner
uses: actions/checkout@v3
with:
repository: oscardegroot/mpc_planner
token: ${{ secrets.CI_REPO_PAT }}
path: src/mpc_planner
ref: dev
# - name: Checkout private planner
# uses: actions/checkout@v3
# with:
# repository: oscardegroot/mpc_planner
# token: ${{ secrets.CI_REPO_PAT }}
# path: src/mpc_planner
# ref: dev

- name: Build dev container task
uses: devcontainers/ci@v0.3
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2 changes: 1 addition & 1 deletion .vscode/tasks.json
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Expand Up @@ -144,7 +144,7 @@
},
{
"label": "Jackal: Run Real-World Jackal",
"command": "source devel/setup.bash && source fix_console.sh && roslaunch mpc_planner_jackal ros1_jackal.launch",
"command": "source ./connect_to_jackal.sh && source devel/setup.bash && source fix_console.sh && roslaunch mpc_planner_jackal ros1_jackal.launch",
"type": "shell",
"group": {
"kind": "build",
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12 changes: 9 additions & 3 deletions connect_to_jackal.sh
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@@ -1,4 +1,10 @@
source devel/setup.bash
alias connect_to_jackal3="export ROS_MASTER_URI=http://cpr-j100-0594:11311;export ROS_IP=192.168.0.25"
alias connect_to_jackal1="export ROS_MASTER_URI=http://cpr-j100-0114:11311;export ROS_IP=192.168.0.128"
connect_to_jackal3

# Jackal 1
# export ROS_MASTER_URI=http://cpr-j100-0114:11311

# Jackal 3
export ROS_MASTER_URI=http://cpr-j100-0594:11311

# Your IP (check with `ip a`)
export ROS_IP=192.168.3.56
12 changes: 8 additions & 4 deletions planner.repos
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Expand Up @@ -2,15 +2,15 @@ repositories:
mpc_planner:
type: git
url: https://github.com/tud-amr/mpc_planner.git
version: 767c881cc285dec2ed1441a31d4fc33adc32c160
version: cc71e45fcd8263b1a43d2af500c3696860b4b8a5
guidance_planner:
type: git
url: https://github.com/tud-amr/guidance_planner.git
version: 463d84765b3641e8ccdd066b92f7b73d63527357
version: 2c4188371e18e2fb3d083e0867b5e4d537a42860
ros_tools:
type: git
url: https://github.com/oscardegroot/ros_tools.git
version: 419b458a04432ff3b272e6479f259fdb58a1c94c
version: f2ff45830961db8d3d813ee4769f27eea708e989
pedestrian_simulator:
type: git
url: https://github.com/oscardegroot/pedestrian_simulator.git
Expand All @@ -34,4 +34,8 @@ repositories:
decomp_util:
type: git
url: https://github.com/oscardegroot/DecompUtil.git
version: b4211a130ada47d458105a3a29559d3f6caa52c4
version: b4211a130ada47d458105a3a29559d3f6caa52c4
scenario_module:
type: git
url: https://github.com/oscardegroot/scenario_module.git
version: c11addbb7239752d585beb181e8f9197893c6c53
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