Golf cart moves slowly and shakes violently while following planned trajectory
After running the AVP demo with our own map in simulation, we've managed to integrate all parts to real vehicle - LVTong golf cart (similar to this). After receiving the planned trajectory, as it starts to move. However, it shakes violently, and moves really slowly (0.2m/s as read from /control_command): video.
We suspect that the problem is in the Autoware.Auto's MPC Controller implementation itself, or it's because the LIDAR is not well aligned on the rooftop of the golf cart, making the read signals unstable. However, we currently don't have a specific direction or clue to come to a potential solution.
Do you have any suggestions?
Thank you all.
Hello @congphase , little bit off topic, but what tool/package did you use to build pcd map ? ndt_mapper from Autoware.Auto or something else ?
Hello @Aleksandr Savel'ev, I used Livox LOAM, as I recorded lidar data of my area with a Livox Horizon LIDAR.