wok

TEST DRIVE:

When running, the purpose of our project is to see if it can change the set speed with geographic positional information. For testing purposes, instead of relying on GPS and hard-coding this, we want to manually just input a new set speed. The command to do this while running our ros controller is this (changing out 50 for desired set speed:

rostopic pub -r 10 /new_set_speed std_msgs/Float64 "data: 50"

• The controller is only meant to be used in an isolated area. There is no consideration for a lead vehicle in order to simplify controller logic.
• Expected behavior is that the vehicle will reach the set speed within 10 seconds, however, there are some edge cases in which this may not occur, delineated below.
• Iterator execution speed may cause stuttering in acceleration changes. We are unsure if the iteration technique will mirror the simulation in application.
• Large changes in acceleration will likely not be successful due to acceleration dampening and non-ideal dynamics.

SIMULINK FILES

1. ol_simulation.slx -> open loop simulation

2. cl_simulation.slx -> closed loop simulation

3. okayestcontroller.slx -> ros topics code generator

TO SET UP DOCKER

1. Go to the directory where you have the Dockerfile downloaded. Make sure to have the bag file in the same directory and launch files downloaded in same directory.

2. Build the Docker container:

   docker build -t test:latest .

3. Create a Docker volume named catkin_ws using the following command:

   docker volume create catkin_ws

4. Run the container with the volume mounted using this command:

   docker run --mount type=bind,source=.,target=/catkin_ws -it test:latest

5. Change the directory to catkin_ws within the container:

   cd /catkin_ws

6. Build your ROS workspace:

   catkin_make