Devel lukas#42

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lukasbrunke wants to merge 207 commits intoMPC-Berkeley:masterfrom

lukasbrunke:devel-lukas

Commits on Sep 13, 2016

Added GPS to state estimation. Adapted state estimation (individual measurement noise for all measurements) and added launch files for estimation.
maxb91
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Added DS_Store to gitignore
maxb91
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Added Localization node
maxb91
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Added first draft of LMPC node. Not tested yet.
maxb91
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Added indoor GPS package
maxb91
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Fixed localization node (fixed wrapping error) and added position information message
maxb91
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Added MPC node for trajectory following and MPC-logging message format. Also added Launch-file and observers file for estimator
maxb91
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added observers file (necessary for state estimation)
maxb91
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Added Barc simulation node, still needs launch-file to be started (together with according control)
maxb91
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Merge branch 'devel-max' of https://github.com/BARCproject/barc into devel-max
maxb91
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Merge branch 'devel-max' of https://github.com/BARCproject/barc into LMPC
maxb91
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Merge branch 'devel-max' of https://github.com/BARCproject/barc into MPC-follow-trajectory
maxb91
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added launch file for MPC-follow-trajectory simulation
maxb91
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deleted outlier detection in state estimator (didn't work properly) and did little corrections in the simulation node
maxb91
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Commits on Sep 14, 2016

Commits on Sep 15, 2016

Commits on Sep 16, 2016

Commits on Sep 17, 2016

Changed entire problem formulation structure so that there are no more global variables. Instead, the model is defined by a function and passed to the MPC-solving function. Still not solving perfec…
maxb91
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Commits on Sep 19, 2016

LMPC simulation works with multiple laps. Still oscillating a bit around the track.
maxb91
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Commits on Sep 21, 2016

Commits on Sep 23, 2016

Commits on Sep 24, 2016

Commits on Sep 29, 2016

Commits on Oct 7, 2016

Commits on Oct 10, 2016

Commits on Oct 13, 2016

Commits on Oct 14, 2016

Commits on Oct 15, 2016

Optimized julia codes for speed, cleaned code.
maxb91
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Commits on Oct 16, 2016

Improved simulation model (added artificial sensor disturbances)
maxb91
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Commits on Oct 19, 2016

Commits on Oct 21, 2016

Commits on Oct 25, 2016

Added variables to pos_info, adapted Arduino code to 3-wheel decoders.
maxb91
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Commits on Oct 27, 2016

Added Kalman filter simulation scripts. Changed estimation to adaptive outlier-resistant EKF.
maxb91
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Commits on Oct 28, 2016

Added Kalman variations for testing.
maxb91
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Commits on Nov 2, 2016

Added more evaluation scripts and Kalman filter variations. Adapted velocity message and arduino code so that all wheel speed estimates are published.
maxb91
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Commits on Nov 3, 2016

Added 4-wheel encoder logging, added simpler kinematic estimator (not using IMU accelerations)
maxb91
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Commits on Nov 4, 2016

Commits on Nov 10, 2016

Changed oldTraj structure
maxb91
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Commits on Nov 11, 2016

Added pure sensor-based Kalman filter (good performance in tests), ran first successful sysID laps.
maxb91
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Commits on Nov 12, 2016

Updated low level control parameters, normalized acceleration measurement
maxb91
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Commits on Nov 18, 2016

Updated parameters
maxb91
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Commits on Nov 28, 2016

Commits on Nov 30, 2016

Added evaluation functions (incl. animation)
maxb91
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Commits on Dec 1, 2016

Updated parameters and wifi settings.
maxb91
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Commits on Dec 2, 2016

Updated paramters
maxb91
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Commits on Dec 4, 2016

Commits on Dec 5, 2016

Last optimizations.
maxb91
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Commits on Dec 7, 2016

Commits on Dec 8, 2016

Commits on Dec 9, 2016

Cleaned source code, added Readme file.
maxb91
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Commits on Dec 15, 2016

Commits on Jan 17, 2017

Fix bug in equation for simulatior
urosolia
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Commits on Feb 20, 2017

Commits on Apr 26, 2017

new tuning
urosolia
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Commits on Sep 26, 2017

changes 26 sept 17
francescoricciuti
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Commits on Nov 8, 2017

changed frequency of pos_info, refined tuning, refined system ID
francescoricciuti
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Commits on Nov 9, 2017

first steps towards obstacle avoidance
francescoricciuti
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Commits on Nov 14, 2017

new tuning
francescoricciuti
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Commits on Nov 15, 2017

new plot functionalities
francescoricciuti
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Commits on Nov 16, 2017

added slack variables to the problem, new tuning, now working
jonmgonzales
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Commits on Nov 17, 2017

new tuning
jonmgonzales
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Commits on Nov 21, 2017

added working obstacle avoidance
jonmgonzales
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Commits on Nov 22, 2017

minor changes to plotting
jonmgonzales
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Commits on Dec 4, 2017

Commits on Dec 8, 2017

added env loader script and testing code for LMPC
jonmgonzales
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Commits on Jan 16, 2018

setup for experiments
jonmgonzales
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Commits on Jan 17, 2018

minor changes
jonmgonzales
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Commits on Jan 18, 2018

Commits on Jan 22, 2018

Commits on Jan 23, 2018

Commits on Jan 24, 2018

added script for deceleration mapping
jonmgonzales
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Commits on Jan 25, 2018

Commits on Jan 26, 2018

new plots added
jonmgonzales
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Commits on Jan 27, 2018

minor corrections on plots
jonmgonzales
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Commits on Jan 29, 2018

new tuning
jonmgonzales
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Commits on Jan 30, 2018

Commits on Feb 1, 2018

New changes for new GPS pkg
urosolia
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Commits on Feb 2, 2018

Commits on Feb 5, 2018

Commits on Feb 6, 2018

Commits on Feb 7, 2018

added solver status to plots
jonmgonzales
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Commits on Feb 8, 2018

new tuning for experiments
jonmgonzales
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Commits on Feb 10, 2018

Commits on Feb 12, 2018

added boolean variable for obtacle tuning
jonmgonzales
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Commits on Feb 13, 2018

Commits on Feb 16, 2018

Commits on Mar 1, 2018

Commits on Mar 16, 2018

Commits on Mar 20, 2018

Added node for sending obstacle information
lukasbrunke
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Commits on Apr 30, 2018

Commits on May 4, 2018

Adding some visualization tools for debugging recorded data.
lukasbrunke
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Commits on May 17, 2018

Commits on Sep 23, 2018

Commits on Sep 24, 2018

removed hard-coded paths, extended readme
lukasbrunke
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Commits on Nov 11, 2018