Obstacle avoidance in MPC of a drone in simulation

[uzakotim]

Hello 😀 Do you know how to turn off obstacle avoidance of a drone in simulation or to reduce prediction horizon in MPC?
Thank you,
Timur

[matemat13]

Hello Timur!
Surprisingly, we do ;)
The best way to do it is using custom configs and change the collision_avoidance/enabled parameter of mrs_uav_trackers to false. You can change the prediction horizon using the same method.

Note: It's not recommended to change the parameter directly in the mrs_uav_trackers/config/default/mpc_tracker.yaml file as that will likely be overriden by a git pull or a similar command and is polluting the repository with non-general changes. Use the custom configs method!

[uzakotim]

Thank you!