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mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
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|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph R
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mpc_local_planner at Robotics Stack Exchange
No version for distro ardent. Known supported distros are highlighted in the buttons above.
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|
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph R
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found