Lmpc_params.yaml

pose_topic : "odom"
drive_topic: "nav"
wp_file_name: "/home/yuwei/yuwei_ws/src/LearningMPC/data/centerline_waypoints.csv"

r_accel : 1.5
r_steer: 18.0
q_s: 3000.0
q_s_terminal: 800

N: 25
Ts: 0.05
K_NEAR: 16
SPEED_MAX: 10.00
STEER_MAX: 0.41
ACCELERATION_MAX: 4.0
DECELERATION_MAX: 5.0
VEL_THRESHOLD: 0.8

MAP_MARGIN: 0.32

WAYPOINT_SPACE: 0.2

wheelbase: 0.3302 # meters
friction_coeff: 1.2 # - (complete estimate)
height_cg: 0.08255 # m (roughly measured to be 3.25 in)
l_cg2rear: 0.17145 # m (decently measured to be 6.75 in)
l_cg2front: 0.15875 # m (decently measured to be 6.25 in)
C_S_front: 2.3 #.79 # 1/rad ? (estimated weight/4)
C_S_rear: 2.3 #.79 # 1/rad ? (estimated weight/4)
mass: 3.17 # kg (measured on car 'lidart')
moment_inertia: .0398378 # kg m^2 (estimated as a rectangle with width and height of car and evenly distributed mass, then shifted to account for center of mass location)
random: 1.0