 youchen
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5ea0801245
map_scan_match package publish tf, ceres match with new map from gedian.
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4 роки тому |
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youchen
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79bf43546c
gazebo function test. successfully implement ceres scan matching function according to relative codes in cartographer (built in release mode)
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4 роки тому |
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youchen
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972dba2588
find the constrain settings' problem, i.e. the output need to be the predicted one, not the current one. Then added current linear and angular speed as constrains.
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5 роки тому |
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youchen
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8ceda2ad6b
mpc_controller one vehicle control and model research. modify two vehicle model in MPC and it works fine.
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5 роки тому |
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youchen
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bc9aad5a84
mpc_debug. add target approaching optimization with smoother control of velocity. need to find a two vehcle model in the future
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5 роки тому |
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youchen
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aa1a728409
delete obsolete cartographer_ros, adding MPC node with two turtlesim, need to be fixed
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5 роки тому |
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youchen
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9d22bf2e9b
organize code and create a solver class (MpcDiffModel) for testing.
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5 роки тому |
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youchen
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5fb75c4453
mpc model theta bug fixed
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5 роки тому |
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youchen
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d2e31ba802
mpc_node with limited control ability
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5 роки тому |
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youchen
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8b1c58965b
carto, grapher, movebase, rbx1, scanICP, sendGoal, sicktim, p&f
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5 роки тому |
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youchen
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e16e85b070
init
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5 роки тому |
