mppi_swerve_drive_ros

MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

[Website] [PDF] [Arxiv] [Poster]

https://github.com/user-attachments/assets/0b18bb4d-c6ad-407b-919c-c8c3c219d75c

Setup

[Option 1] Docker environment

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1. Prerequisites

   • docker
     • For ubuntu users: curl -fsSL https://get.docker.com -o get-docker.sh sudo sh get-docker.sh
   • rocker
     • For ubuntu users: sudo apt-get install python3-rocker

2. Clone the project repository. cd <path to your workspace> git clone https://github.com/MizuhoAOKI/mppi_swerve_drive_ros

3. Run for the first time setup to build the docker image. cd <path to your workspace>/mppi_swerve_drive_ros make setup_docker

4. Launch the docker container and get into the bash inside. cd <path to your workspace>/mppi_swerve_drive_ros make run_docker

5. [Inside the docker container] Build the project. cd ~/mppi_swerve_drive_ros make build

[Option 2] Native environment

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1. Prerequisites

   • ubuntu 20.04
   • ros noetic

2. Clone the project repository. cd <path to your workspace> git clone https://github.com/MizuhoAOKI/mppi_swerve_drive_ros

3. Install foundation packages. cd <path to your workspace>/mppi_swerve_drive_ros sudo make install_deps

4. Initialize rosdep, update it, and install dependencies. cd <path to your workspace>/mppi_swerve_drive_ros sudo rosdep init rosdep update rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro noetic
5. Build the project. cd <path to your workspace>/mppi_swerve_drive_ros make build

Build

Build the project.

cd <path to your workspace>/mppi_swerve_drive_ros
make build

(Optional) Clean the cache before building the project if necessary.

cd <path to your workspace>/mppi_swerve_drive_ros
make clean

Usage

[Case 1] Launch gazebo simulator only, operating a 4wids vehicle manually with a joypad.

cd <path to your workspace>/mppi_swerve_drive_ros
source /opt/ros/noetic/setup.bash && source ./devel/setup.bash
roslaunch launch/gazebo_world.launch gazebo_world_name:=maze

NOTES

• gazebo_world_name options:
  • empty
  • empty_garden
  • cylinder_garden
  • maze
• Default joystick path is /dev/input/js0. If you want to change the path, please edit mppi_swerve_drive_ros/src/operation/joy_controller/config/joy.yaml.

[Case 2] Navigate a 4wids vehicle autonomously with a MPPI controller.

• Try MPPI-3D(a) (driving faster but dangerous sometimes) bash cd <path to your workspace>/mppi_swerve_drive_ros source /opt/ros/noetic/setup.bash && source ./devel/setup.bash roslaunch launch/navigation.launch local_planner:=mppi_3d_a
• Try MPPI-3D(b) (relatively safe but driving slower) bash cd <path to your workspace>/mppi_swerve_drive_ros source /opt/ros/noetic/setup.bash && source ./devel/setup.bash roslaunch launch/navigation.launch local_planner:=mppi_3d_b
• Try MPPI-4D (safe but relatively slow) bash cd <path to your workspace>/mppi_swerve_drive_ros source /opt/ros/noetic/setup.bash && source ./devel/setup.bash roslaunch launch/navigation.launch local_planner:=mppi_4d
• [Author's Recommendation] ✨Try MPPI-H✨ (good balance between quickness and safety) bash cd <path to your workspace>/mppi_swerve_drive_ros source /opt/ros/noetic/setup.bash && source ./devel/setup.bash roslaunch launch/navigation.launch local_planner:=mppi_h