Sampling based MPC

Run python setup.py develop to setup the repo

Run scenarios from the examples dir

The main source code is in the behavior_kit dir

Running the MPC in different environments

Inside examples/ros2/, build the ros workspace using colcon build. Source the workspace in each new terminal, source the workspace using . install/setup.bash. To change th number of goals, change the variabele num_goals in both the CPP optimizer and Python plotting code.

NGSIM

SMPC

1. Source the workspace and run ros2 run acado_ros combined_ngsim.
2. In a new terminal, source the workspace and run ros2 run simulation_env ngsim_env.

Multi-Goal Acado

1. Change the number goals in src/acado_ros/src/combined_ngsim.cpp and src/simulation_env/simulation_env/ngsim_acado.py by changing the variable num_goals to a value geater than 1.
2. Source the workspace and run ros2 run acado_ros combined_ngsim.
3. In a new terminal, source the workspace and run ros2 run simulation_env ngsim_acado.

Single-Goal Acado

1. Change the number goals in src/acado_ros/src/combined_ngsim.cpp and src/simulation_env/simulation_env/ngsim_acado.py by changing the variable num_goals to 1.
2. Source the workspace and run ros2 run acado_ros combined_ngsim.
3. In a new terminal, source the workspace and run ros2 run simulation_env ngsim_acado.

Combined Environment

SMPC

1. Source the workspace and run ros2 run acado_ros combined_mpc_multi.
2. In a new terminal, source the workspace and run ros2 run simulation_env combined_sim_new.

Multi-Goal Acado

1. Change the number goals in src/acado_ros/src/combined_mpc_multi.cpp and src/simulation_env/simulation_env/combined_sim_acado.py by changing the variable num_goals to a value geater than 1.
2. Source the workspace and run ros2 run acado_ros combined_ngsim.
3. In a new terminal, source the workspace and run ros2 run simulation_env combined_sim_acado.

Single-Goal Acado

1. Change the number goals in src/acado_ros/src/combined_mpc_multi.cpp and src/simulation_env/simulation_env/combined_sim_acado.py by changing the variable num_goals to 1.
2. Source the workspace and run ros2 run acado_ros combined_ngsim.
3. In a new terminal, source the workspace and run ros2 run simulation_env combined_sim_acado. ngsim_acado`.