f110_simulator是一个文件是仿真文件，Hierarchical-MPC是算法。 使用： 仿真环境： roslaunch f110_simulator simulator.launch 算法： roslaunch hmpc_auto_race hmpc.launch
目前仿真环境中增加了一个障碍物，速度以2m/s速度运行, 仿真结果： https://www.bilibili.com/video/BV19H4y1U7sr/?spm_id_from=333.999.0.0
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