Controllers

Available Controllers

• PID
• Feedforward Feedback
• MPCC
• Safety Filter
• Joystick

Configuration

Independent of the selected controller, the following generic arguments must be provided in order to use any controller
Example controller_config.yaml

state_type: pacejka_car  # Internal state type of the controller
input_type: pacejka_car  # Internal input type of the controller
controller_type: FF_FB   # Unique controller identifier

max_rate: 50 # Rate at which controller node should run
visualization_rate: 10 # Rate at which visualizer for this controller should run

controller_params:
  # controller specific arguments

model:
  # Model specific parameters
  # This overrides the base model loaded into the /<car_name>/model/* 
  # namespace and allows for a model missmatch between the controller and the simulation
  model_params: # e.g. only missmatch mass and Intertia for pacejka model
  #    m: 0.2
  #    I: 0.000605

visualizer:
  type: last_refrence | mpc # visualizer type
   # Visualizer specific arguments