Crazy Controller

MAP (Model-based Acceleration-based Pursuit) controller for F1TENTH with safety features and dynamic parameter tuning.

Quick Start

# Build
colcon build --packages-select crazy_controller
source install/setup.bash

# Real hardware (TF map->base_link + /odom)
ros2 launch crazy_controller controller_launch.py mod:=real

# Simulation (TF map->ego_racecar/base_link + /ego_racecar/odom)
ros2 launch crazy_controller controller_launch.py mod:=sim

Launch Parameters

Parameter	Default	Description
mod	real	Launch mode: real or sim
controller_mode	MAP	Control algorithm (MAP only)
l1_params_path	Auto-selected	L1 parameter file by mode
lookup_table_path	Auto-selected	Steering lookup table by mode
base_link_frame	Auto-selected	TF frame: base_link (real) or ego_racecar/base_link (sim)

Topics

Real Mode (mod:=real)

• Input: /odom - Odometry (velocity only)
• Input: TF map → base_link - Position and orientation from TF transforms
• Input: /car_state/frenet/odom - Frenet state
• Input: /global_waypoints, /local_waypoints - Track and path data
• Output: /drive - Ackermann drive commands
• Config: Real-time, Pacejka tire model, l1_params.yaml

Simulation Mode (mod:=sim)

• Input: /ego_racecar/odom - Odometry (velocity only)
• Input: TF map → ego_racecar/base_link - Position and orientation from TF transforms
• Input: /car_state/frenet/odom - Frenet state
• Input: /global_waypoints, /local_waypoints - Track and path data
• Output: /drive - Ackermann drive commands
• Config: Simulation time, Linear tire model, l1_params_sim.yaml

Key Configuration

Edit config/l1_params.yaml (real) or config/l1_params_sim.yaml (sim):

crazy_controller:
  ros__parameters:
    # Core L1 Parameters
    t_clip_min: 1.5               # Minimum time horizon
    m_l1: 0.3                     # L1 gain multiplier
    q_l1: 0.5                     # L1 damping coefficient
    
    # Speed and Steering
    speed_lookahead: 0.25         # Speed-based lookahead
    acc_scaler_for_steer: 1.2     # Steering scaling factors
    
    # Vehicle parameters (auto-set by mod)
    # Real: Pacejka tire model, wheelbase=0.325
    # Sim: Linear tire model, wheelbase=0.324

Control Algorithm

MAP controller with multi-stage pipeline:

• TF-based localization: Gets position/orientation from TF transforms (map → base_link_frame)
• Message synchronization: Waits for all required topics with timeout
• L1 adaptive guidance: Dynamic lookahead based on speed and curvature
• Speed planning: Curvature-aware velocity with acceleration scaling
• Steering control: Pacejka/linear tire model lookup with calibration

Safety Features

• Signal handling with graceful shutdown
• Emergency stop on termination
• Waypoint timeout protection (5 seconds)
• Input validation and error recovery
• Thread-safe atomic operations

Dynamic Tuning

# Real-time parameter updates
ros2 param set /controller_manager m_l1 0.4
ros2 param set /controller_manager speed_lookahead 0.3
ros2 param set /controller_manager acc_scaler_for_steer 1.1

Prerequisites

• Lattice planner running
• TF transforms: map → base_link (real) or map → ego_racecar/base_link (sim)
• Frenet coordinate transformer
• Steering lookup table files loaded