Minor changes

fetty31 · Jun 6, 2023 · 5cefa47 · 5cefa47
1 parent f1dee4c
commit 5cefa47
Show file tree

Hide file tree

Showing 4 changed files with 16 additions and 15 deletions.
diff --git a/launch/autoX.launch b/launch/autoX.launch
@@ -1,7 +1,7 @@
 <launch>
 
     <!-- TAILORED MPC -->
-    <node pkg="tailored_mpc" type="tailored_mpc_exec" name="tailored_mpc" output="screen">
+    <node pkg="tailored_mpc" type="tailored_mpc_exec" name="tailored_mpc" output="log">
         <rosparam file="$(find tailored_mpc)/params/tailored_mpc.yaml" subst_value="True"/>
     </node>
 

diff --git a/params/dyn_autox.yaml b/params/dyn_autox.yaml
@@ -35,8 +35,8 @@ dictitems:
         state: []
       parent: 0
       q_mu: 0.01
-      q_n: 150.0
-      q_nN: 150.0
+      q_n: 550.0
+      q_nN: 550.0
       q_s: 10.0
       q_sN: 10.0
       q_slack_track: 1000.0
@@ -47,8 +47,8 @@ dictitems:
     state: []
   latency: 5
   q_mu: 0.01
-  q_n: 150.0
-  q_nN: 150.0
+  q_n: 550.0
+  q_nN: 550.0
   q_s: 10.0
   q_sN: 10.0
   q_slack_track: 1000.0

diff --git a/params/tailored_mpc.yaml b/params/tailored_mpc.yaml
@@ -41,6 +41,6 @@ MPC:
   rk4_t: 0.025                                        #[s] Runge Kutta integration time
   Nthreads: 5                                         # Number of threads
 
-  nPlanning: 1500                                     # n points saved from the planner
+  nPlanning: 2000                                     # n points saved from the planner
   plannerAccuracy: 0.025                              # [m] distance accuracy of the planner (distance between given points)
   nSearchAhead: 5                                     # [m] distance ahead where we will look for the closer point to the car (int)
diff --git a/src/main.cpp b/src/main.cpp
@@ -19,15 +19,16 @@ void dynamicCallback(tailored_mpc::dynamicConfig &config, uint32_t level, MPC* m
 
 void my_SIGhandler(int sig){
 
-    if(ros::master::check()){
-        as_msgs::CarCommands msgCommands;
-        msgCommands.motor = -1.0; // no one will read this value, but what if..
-        msgCommands.steering = 0.0;
-        msgCommands.Mtv = 0.0;
-        for(int i=0; i<5; i++){
-            pubCommands.publish(msgCommands);
-            ros::Duration(0.05).sleep();
-        }
+    // More safe if the car keeps the last steering command sent before shutdown ???
+    if(ros::master::check()){ 
+        // as_msgs::CarCommands msgCommands;
+        // msgCommands.motor = -1.0; // no one will read this value, but what if..
+        // msgCommands.steering = 0.0;
+        // msgCommands.Mtv = 0.0;
+        // for(int i=0; i<5; i++){
+        //     pubCommands.publish(msgCommands);
+        //     ros::Duration(0.05).sleep();
+        // }
         ROS_ERROR("MPC says Goodbye :)");
     }
     ros::shutdown();