hybridrobotics / car-racing Goto Github PK

Need to wrap it up as a standard package.

It's reported from @qinlincmu that the reproducing matrixA and matrixB will make the ego vehicle cannot overtake the leading vehicles.

System information
OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 20.04
Branch: master
python3.9(no python3.6 due to cvxopt install failed)
Steps to reproduce the issue:
python car_racing/test/mpccbf.py --track-layout l_shape --simulation --plotting --animation

Error detail:
Car-Racing/src/policy.py", line 224, in calc_input
sol = opti.solve()
File "/home/wsco/anaconda3/envs/car_racing/lib/python3.9/site-packages/casadi/casadi.py", line 47783, in solve
return _casadi.Opti_solve(self, *args)
RuntimeError: Error in Opti::solve [OptiNode] at .../casadi/core/optistack.cpp:157:
.../casadi/core/optistack_internal.cpp:998: Assertion "return_success(accept_limit)" failed:
Solver failed. You may use opti.debug.value to investigate the latest values of variables. return_status is 'Infeasible_Problem_Detected'

The code structure shall be refactored and integrated with ROS for further release.

Here is a question raised by @renaomin.

He is curious where the parallel computation is implemented for the trajectory generation. More basically, how the parallelism is achieved in the code base. Could you point out the specific components? @hesuieins

System information
OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 18.04
Branch: master
Steps to reproduce the issue:
python examples/racing.py --simulation --plotting --animation

Error detail:
Car-Racing/src/policy.py", line 224, in calc_input
sol = opti.solve()

RuntimeError: Error in Opti::solve [OptiNode] at .../casadi/core/optistack.cpp:159:
.../casadi/core/optistack_internal.cpp:999: Assertion "return_success(accept_limit)" failed:
Solver failed. You may use opti.debug.value to investigate the latest values of variables. return_status is 'Infeasible_Problem_Detected'

Dear Jun Zeng, there some error when running racing.py example, I'm wondering if it's a bug or just some error cause by casadi.