This repository creates a model predictive contouring controller to use on a f110th racestack.

(source: https://github.com/alexliniger/MPCC)

The main branch is using a pacejka tire model to simulate the cars behaviour, while the additional branch simplified_tire_model uses a simpler, path-parametric tire model

Setup

• install ros-noetic and f110 base system
• clone repo into catkin ws
• install python requirements by running pip install -r requirements.txt
• use catkin build to compile ros pkgs
• start mpcc node by running roslaunch mpcc_ros mpcc_controller.launch

Obstacle Avoidance Demo