Skip to content

fixed min curvature incompatibility #41

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
CharlesMcCabe merged 1 commit into from
May 10, 2026
Merged

fixed min curvature incompatibility #41

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion sim_ws/Dockerfile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ RUN echo "export RCUTILS_COLORIZED_OUTPUT=1 " >> ~/.bashrc
RUN echo -e "b() { \n source /opt/ros/humble/setup.bash\n cd /sim_ws || exit \n colcon build "$@" --packages-ignore range_libc particle_filter --symlink-install\n source install/local_setup.bash\n \n}" >> ~/.bashrc

# Fix for 'no module name 'numba' with docker compose 2.40
RUN pip3 install transforms3d gymnasium numba scipy pyglet pillow "matplotlib<=3.8"
RUN pip3 install transforms3d gymnasium numba scipy pyglet pillow "matplotlib<=3.8" "cvxpy==1.4" "scikit-image<0.20"


# -----------------------------
Expand Down
19 changes: 17 additions & 2 deletions sim_ws/src/scripts/map_preparation/utils/min_curvature.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -305,9 +305,24 @@ def solve_min_curvature_raceline(
]

prob = cp.Problem(cp.Minimize(cost), constraints)
prob.solve(solver=cp.OSQP, verbose=False, max_iter=10000, eps_abs=1e-6, eps_rel=1e-6)
solver_attempts = [
(cp.ECOS, dict(verbose=False, max_iters=2000, abstol=1e-7, reltol=1e-7)),
(cp.OSQP, dict(verbose=False, max_iter=10000, eps_abs=1e-6, eps_rel=1e-6)),
(cp.SCS, dict(verbose=False, max_iters=2500, eps=1e-5)),
]

solved = False
for solver, solver_kwargs in solver_attempts:
try:
prob.solve(solver=solver, **solver_kwargs)
except cp.error.SolverError:
continue

if alpha.value is not None:
solved = True
break

if alpha.value is None:
if not solved:
print("[WARNING] Solver did not converge — returning centreline as fallback.")
return p, np.zeros(N)

Expand Down
Loading