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Update: FSD Algorithm 3.0
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‎.gitignore

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@@ -39,3 +39,6 @@ clion-cmake/*
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# Profiler files
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*.prof
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*.pdf
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# IPOPT
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Ipopt-3.12.7/*

‎ros/common/fsd_common_meta/missions/acceleration.launch

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<!-- for perception -->
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<include file="$(find line_detector)/launch/line_detector.launch"/>
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<include file="$(find lidar_cluster)/launch/lidar_cluster.launch"/>
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<!-- for localization -->
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<!-- for planning -->
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<include file="$(find path_generator)/launch/acceleration.launch"/>
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<!-- for control-->
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<include file="$(find control)/launch/acceleration.launch"/>
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‎ros/common/fsd_common_meta/missions/skidpad.launch

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<!-- for perception -->
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<include file="$(find skidpad_detector)/launch/skidpad_detector.launch"/>
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<include file="$(find lidar_cluster)/launch/lidar_cluster.launch"/>
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<!-- for localization -->
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<!-- for planning -->
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<include file="$(find path_generator)/launch/skidpad.launch"/>
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<!-- for control-->
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<include file="$(find control)/launch/skidpad.launch"/>
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‎ros/common/fsd_common_meta/missions/trackdrive.launch

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<launch>
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<!-- for perception -->
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<include file="$(find lidar_cluster)/launch/lidar_cluster.launch"/>
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<!-- for localization -->
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<!-- for planning -->
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<include file="$(find path_generator)/launch/trackdrive.launch"/>
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<!-- for control-->
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<include file="$(find control)/launch/trackdrive.launch"/>
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‎ros/common/fsd_common_msgs/CMakeLists.txt

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CarState.msg
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CarStateDt.msg
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Map.msg
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Trajectory.msg
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TrajectoryPoint.msg
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)
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generate_messages(

‎ros/common/fsd_common_msgs/msg/Trajectory.msg

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std_msgs/Header header
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fsd_common_msgs/TrajectoryPoint[] trajectory

‎ros/common/fsd_common_msgs/msg/TrajectoryPoint.msg

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geometry_msgs/Point pts
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std_msgs/Float64 yaw
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std_msgs/Float64 curvature
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std_msgs/Float64 velocity
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std_msgs/Float64 r
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std_msgs/Float64 acc

‎ros/control/controller/CMakeLists.txt

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${EIGEN3_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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${IPOPT_INCLUDE_DIRS}
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/usr/include/eigen3
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/usr/include/eigen3
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)
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add_executable(${PROJECT_NAME}
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src/control.cpp
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src/control_handle.cpp
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src/main.cpp
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src/main.cpp
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include/Utils/types.h
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src/Track/track_base.cpp
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src/Track/trackdrive_track.cpp
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src/Track/line_track.cpp
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src/Track/skidpad_track.cpp
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# src/Track/track_base.cpp
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# src/Track/trackdrive_track.cpp
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# src/Track/line_track.cpp
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# src/Track/skidpad_track.cpp
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src/Solver/solver_base.cpp
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src/Solver/mpc_solver.cpp
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src/Solver/pure_pursuit_solver.cpp
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src/Utils/visual.cpp)
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src/Utils/visual.cpp)
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target_link_libraries(${PROJECT_NAME}
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${catkin_LIBRARIES}
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${IPOPT_LIBRARIES}
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${OpenCV_LIBS}
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)
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message(STATUS "IPOPT LIBRARIES:" ${IPOPT_LIBRARIES})
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message(STATUS "IPOPT LIBRARIES:" ${IPOPT_LIBRARIES})

‎ros/control/controller/README.md

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## ROS topic
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### Acceleration Mission
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#### **Subscriber**
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* **Subscriber**
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* /estimation/slam/state
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* /planning/end_point
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* **Publisher**
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* /control/pure_pursuit/control_command
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* /estimation/slam/state
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* /planning/ref_path
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### Skidpad Mission
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#### **Publisher**
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* **Subscriber**
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* /estimation/slam/state
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* /transform_matrix
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* **Publisher**
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* /control/pure_pursuit/control_command
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### **Trackdrive Mission**
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* **Subscriber**
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* /map
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* /estimation/slam/state
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* **Publisher**
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* /control/pure_pursuit/control_command
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* /control/pure_pursuit/control_command
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## Step
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## Note:
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* Remember to adjust the `car_length` in the `.yaml` file, once you want to run different racecar.
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* If you want to be faster, you can change the `desire_vel` in `.yaml` file.
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* Topic `/transform_matrix` comes from [skidpad detector](https://github.com/bitfsd/fsd_algorithm/tree/master/ros/planning/skidpad_detector).
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* Topic `/planning/end_point` comes form [line detector](https://github.com/bitfsd/fsd_algorithm/tree/master/ros/planning/line_detector).
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* If you want to be faster, you can change the `desire_vel` in `.yaml` file. Note that the MPC controller's velocity is related to the velocity of the reference path from [path_generator](https://github.com/bitfsd/fsd_algorithm/tree/master/ros/planning/path_generator).
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‎ros/control/controller/config/acceleration.yaml

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# Subscriber
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car_state_topic_name: /estimation/slam/state
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end_point_topic_name: /planning/end_point
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ref_path_topic_name: /planning/ref_path
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# Publisher
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ctrl_cmd_topic_name: /control/pure_pursuit/control_command
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look_ahead: 20
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# Track params:
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interval: 0.05
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max_lat_acc: 3.0
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# other params:
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N: 40
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