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.

Launch files

Messages

No message files found.

Services

No service files found

Recent questions tagged mpc_local_planner at Robotics Stack Exchange

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.

Launch files

Messages

No message files found.

Services

No service files found

Recent questions tagged mpc_local_planner at Robotics Stack Exchange