This serves as a document for recording the progress in implementing a MPC controller in GEMstack, with explanations on how to run things and where to find components necessary to run a basic demo that uses the different controllers available in GEMstack

In GEMstack, run python3 main.py --variant=sim launch/fixed_route.yaml to shoot up a simulation demo that has the vehicle following a fixed route.

• The fixed route is defined in GEMstack/knowledge/routes/xyhead_highbay_backlot_p.csv, which is defined as a list of poses consisting of the x, y, and theta value.
• Since we are not dealing with the planning algorithm, we don't have to worry about how the route is generated. The route will go through a simple preprocessing step, which is defined in GEMstack/onboard/planning/motion_planning.py.
• The control behavior, which is what our team focuses on, is defined in GEMstack/onboard/planning/pure_pursuite.py, which uses a baisc pure pursuite controller. TODO: the controller should be very simple to understand, but could put more details here on how it works exactly.

• We take a list of poses, convert it to a trajectory parameterized by time, delta t is defined as the distance between two pose / constant speed (constant speed is set to one).