settings.yaml

name: "jackal"
N: 30 # [#] Time Horizon
integrator_step: 0.2 # [s] Integration step
n_discs: 1 # Number of discs to model the robot with

enable_output: true # Enable output to the robot
control_frequency: 20 # [Hz] Control frequency of the MPC

debug_output: false # Show debug output
debug_limits: false # Show when state/input limits are hit
debug_visuals: false # Show extra visuals

solver_settings:
  solver: "acados" # acados or forces
  # solver: "forces" # acados or forces
  acados:
    iterations: 10
    solver_type: SQP_RTI # SQP_RTI (default) or SQP
  forces:
    floating_license: true # Use a floating license (required in a container)
    enable_timeout: true # Stop solving at timeout
    init: 2 # 0 = cold start, 1 = centered start, 2 = warm start with the selected primal variables
    use_sqp: false # use SQP instead of PDIP (not recommended)
  tolstat: 1e-3 # Stationary tolerance

recording:
  enable: true # Record data if true
  folder: /workspace/src/mpc_planner/data # Data location
  file: none # File name for the experiment
  timestamp: false # Add a timestamp
  num_experiments: 5 # Stop after this number of experiments

deceleration_at_infeasible: 3.0 # [m/s^2] Deceleration when MPC is infeasible
max_obstacles: 12 # Max. number of dynamic obstacles
robot_radius: 0.325 # [m] Robot radius
robot:
  length: 0.65 # [m]
  width: 0.65 # [m]
  com_to_back: 0.0 # [m] Distance from center of mass to the back of the robot
obstacle_radius: 0.4 # [m] Radius of obstacles (not used when provided in the obstacle message)

linearized_constraints:
  add_halfspaces: 0  # Add static constraints in T-MPC (e.g., for road boundaries)

scenario_constraints:
  parallel_solvers: 1

road:
  two_way: false # Does road go two ways?
  width: 6.0 # [m]

shift_previous_solution_forward: false # Shift the previous MPC solution forward (recommended: false)

contouring:
  dynamic_velocity_reference: false # Is the velocity reference dynamically updated?
  num_segments: 5 # Number of contouring segments to track
  preview: 0.0 # (not used)
  add_road_constraints: true # (not used)

t-mpc:
  use_t-mpc++: true # Add the non-guided planner in parallel to guided planners
  enable_constraints: true # Enable homotopy constraints
  highlight_selected: true # Highlight the selected trajectory in red
  warmstart_with_mpc_solution: false # false = use guidance trajectory always, true = use MPC solution if available (recommended: false)

probabilistic:
  enable: true # Consider uncertainty when it is provided
  risk: 0.05 # [0-1] Acceptable risk
  propagate_uncertainty: true # Propagate the received uncertainty over time

weights: # Weights of the MPC, need to correspond to declared weights in the solver
  goal: 1. #10.
  goal_x: 1.
  goal_y: 1.
  velocity: 0.55
  acceleration: 0.34
  angular_velocity: 0.85
  reference_velocity: 2.0 #1.5
  contour: 0.05
  preview: 0.0
  lag: 0.75
  slack: 10000.
  terminal_angle: 100.0 # 0.0
  terminal_contouring: 10.0 # 0.0

visualization:
  draw_every: 5 # Visualize every x stages