Package Summary

Tags No category tags.
Version 0.0.2
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 2020-03-12
Dev Status DEVELOPED
CI status Continuous Integration : 0 / 0
Released RELEASED
Package 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
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CHANGELOG

Changelog for package mpc_local_planner

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 (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 R

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