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
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.
- Source the workspace and run
ros2 run acado_ros combined_ngsim
. - In a new terminal, source the workspace and run
ros2 run simulation_env ngsim_env
.
- Change the number goals in
src/acado_ros/src/combined_ngsim.cpp
andsrc/simulation_env/simulation_env/ngsim_acado.py
by changing the variablenum_goals
to a value geater than 1. - Source the workspace and run
ros2 run acado_ros combined_ngsim
. - In a new terminal, source the workspace and run
ros2 run simulation_env ngsim_acado
.
- Change the number goals in
src/acado_ros/src/combined_ngsim.cpp
andsrc/simulation_env/simulation_env/ngsim_acado.py
by changing the variablenum_goals
to 1. - Source the workspace and run
ros2 run acado_ros combined_ngsim
. - In a new terminal, source the workspace and run
ros2 run simulation_env ngsim_acado
.
- Source the workspace and run
ros2 run acado_ros combined_mpc_multi
. - In a new terminal, source the workspace and run
ros2 run simulation_env combined_sim_new
.
- Change the number goals in
src/acado_ros/src/combined_mpc_multi.cpp
andsrc/simulation_env/simulation_env/combined_sim_acado.py
by changing the variablenum_goals
to a value geater than 1. - Source the workspace and run
ros2 run acado_ros combined_ngsim
. - In a new terminal, source the workspace and run
ros2 run simulation_env combined_sim_acado
.
- Change the number goals in
src/acado_ros/src/combined_mpc_multi.cpp
andsrc/simulation_env/simulation_env/combined_sim_acado.py
by changing the variablenum_goals
to 1. - Source the workspace and run
ros2 run acado_ros combined_ngsim
. - In a new terminal, source the workspace and run
ros2 run simulation_env combined_sim_acado
. ngsim_acado`.