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Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Version 0.3.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version kilted
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.3.1 (2026-02-27)

  • GPLv3 -> Apache 2.0
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Trim path for MPC
  • Stop controllers at IDLE
  • Obstacles are detected
  • Methods were added to access to private attributes
  • Optimizer header file was added
  • Dependencies were fixed
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • CI updated
  • MPC controller is working
  • Optimizer was changed
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_mpc_controller at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package symbol

easynav_mpc_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-02-27
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: MPC Controller package.

Maintainers

  • Juan S. Cely G.

Authors

No additional authors.
controllers/easynav_mpc_controller/README.md

easynav_mpc_controller

ROS 2: rolling

Description

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Authors and Maintainers

Supported ROS 2 Distributions

| Distribution | Status | |—|—| | rolling | rolling |

Plugin (pluginlib)

  • Plugin Name: easynav_mpc_controller/MPCController
  • Type: easynav::MPCController
  • Base Class: easynav::ControllerMethodBase
  • Library: easynav_mpc_controller
  • Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name Type Default Description
<plugin>.horizon_steps int 5 Number of time steps in the prediction horizon.
<plugin>.dt double 0.1 Integration time step (seconds).
<plugin>.safety_radius double 0.35 Safety radius to check possible collisions.
<plugin>.max_linear_velocity double 1.5 Maximum linear velocity (m/s).
<plugin>.max_angular_velocity double 1.5 Maximum angular velocity (rad/s).
<plugin>.verbose bool false Show data on terminal about Optimization.

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Publisher | /mpc/path | nav_msgs/msg/path | MPC trajectories generate by Predictive Component. | QoS depth=10 | | Publisher | /mpc/detection | sensor_msgs::msg::PointCloud2 | Detections used by collision checker. | QoS depth=10 |

Services

This package does not create service servers or clients.

| Key | Type | Access | Notes | |—|—|—|—| | path | nav_msgs::msg::Path | Read | Target path to track. | | robot_pose | nav_msgs::msg::Odometry | Read | Current robot pose/state. | | cmd_vel | geometry_msgs::msg::TwistStamped | Read | Last commanded velocity (if provided in state). | | points | PointPerceptions | Read | Perception point cloud(s) used for costs. |

TF Frames

This controller does not explicitly publish or require TF frames in code.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_mpc_controller

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Collision checker scope was changed
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Collision avoidance was improved
  • Trim path for MPC
  • Obstacles are detected
  • MPC with differential model is working
  • MPC Controller minimizes path following
  • Visualization Marker was added
  • MPC controller is working
  • MPC was added
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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