Improved overtake logic

CMU-Robotics-Club · Mar 10, 2024 · c9ba07d · c9ba07d
1 parent 0568646
commit c9ba07d
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Showing 8 changed files with 7,483 additions and 26 deletions.
diff --git a/rb_ws/src/buggy/launch/sim_2d_2buggies.launch b/rb_ws/src/buggy/launch/sim_2d_2buggies.launch
@@ -41,7 +41,7 @@
     <node name="sc_sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
         args="$(arg sc_start_pos) $(arg sc_velocity) SC"/>
 
-    <arg name="sc_autonsystem_args" default="--controller mpc --dist 0.0 --traj $(arg sc_path) --self_name SC --other_name NAND --profile" />
+    <arg name="sc_autonsystem_args" default="--controller mpc --dist 0.0 --traj $(arg sc_path) --self_name SC --other_name NAND" />
     <node name="sc_auton_system" pkg="buggy" type="autonsystem.py" output="screen"
         args="$(arg sc_autonsystem_args)"/>
 

diff --git a/rb_ws/src/buggy/launch/sim_2d_single.launch b/rb_ws/src/buggy/launch/sim_2d_single.launch
@@ -1,6 +1,6 @@
 <launch>
     <arg name="start_pos"        default="Hill1_SC" />
-    <arg name="autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name SC" />
+    <arg name="autonsystem_args" default="--controller mpc --dist 0.0 --traj buggycourse_safe_1.json --self_name SC" />
     <arg name="velocity"         default="15.0" />
     <arg name="buggy_name"       default="SC" />