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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 Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
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
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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 Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
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