MPC is not solved

[zrd1234]

Hello, I have met some questions, could you please answer them for me? Thank you very much.

[kohonda]

@zrd1234
Hi.
Do you publish the topic /reference_path as type nav_msgs/Path ?

[zrd1234]

nav_msgs/Path

Yes, I passed in the topic type nav_msgs/Path.
No response when not introduced.

[kohonda]

@zrd1234
Can you confirm that the MPC node subscribes the reference path?
https://github.com/kohonda/mpc_tracker_ros/blob/main/src/mpc_tracker_core.cpp#L207

[zrd1234]

@zrd1234 Can you confirm that the MPC node subscribes the reference path? https://github.com/kohonda/mpc_tracker_ros/blob/main/src/mpc_tracker_core.cpp#L207

Hi, I tried to add ROS_INFO to print info, he can occasionally display info.
However, [MPC] Path callback: receive path size = is not displayed.
When I publish the track, it looks like this.

[kohonda]

@zrd1234
I think the reference path topic is not published or published by the wrong way.
Can you check the publishd topic like:

rostopic echo <topic-name>
rostopic info <topic-name>

If the topic is published, can you check the path using Rviz?

[zrd1234]

@zrd1234 I think the reference path topic is not published or published by the wrong way. Can you check the publishd topic like:

rostopic echo <topic-name>
rostopic info <topic-name>

If the topic is published, can you check the path using Rviz?

Hello, this is the type of message I printed and can be subscribed to in rviz.

[kohonda]

@zrd1234
Topic name is '/ego_planner_node/optimal_path', right?
Can you change the topic name in the config.yaml: from 'optimal_path' to 'ego_planner_node/optimal_path'?

[zrd1234]

@zrd1234 Topic name is '/ego_planner_node/optimal_path', right? Can you change the topic name in the config.yaml: from 'optimal_path' to 'ego_planner_node/optimal_path'?

I have changed it. I did not write it correctly at the beginning, but the content of the configuration file is as follows:
out_twist_topic: twist_cmd
in_refpath_topic: /ego_planner_node/optimal_path
in_odom_topic: /visual_slam/odom
robot_frame_id: base_link
map_frame_id: map

[kohonda]

@zrd1234
I see.
What about publishing the reference path topic after the MPC node is up and running?

[zrd1234]

When I run the MPC node first, the terminal prints the following:

When I published the path again, the original problem occurred.
If it is inconvenient to communicate on this, could you please leave a contact information for good communication? thank you

[kohonda]

@zrd1234
Sorry, I am late replying.
I have no idea to deal with it because I have no way of reproducing it.
This is probably not a problem with this package but with the system.
Thank you.