alexkaravaev/rust_mpc

Racing mpc controller

MPC racing controller made in ros2-rust

This is an example package of using ros2-rust client library to do some applied robotics task.

Dependencies

• ros2-rust
• f1tenth-gym
• OpEn optimizer

Quickstart

Make sure that you install deps in your workspace.

cd ws/src
git clone https://github.com/AlexKaravaev/rust_mpc
cd .. && colcon build

You can tune mpc controller(for example to include laserscan and obstacles) by changing file src/create_solver.py and running python3 create_solver.py

Also there are couple of racing maps included in this repo:

• Monza
• Silverstone

To change the map simply change the name in config/sim.yaml. You can download more race tracks from f1tenth racing repo