prox_mpc_msgs

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `prox_mpc_msgs` at Robotics Stack Exchange

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

prox_mpc_msgs package from prox_mpc repo

prox_mpc_benchmark prox_mpc_controller prox_mpc_core prox_mpc_demo prox_mpc_msgs prox_mpc_obstacle_tracker prox_mpc_test_models

ROS Distro
jazzy

Package Summary

Version	1.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/simone-contorno/prox_mpc.git
VCS Type	git
VCS Version	main
Last Updated	2026-07-28
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Message contract for the ProxMPC stack: Obstacle and ObstacleArray carry tracked-obstacle id, position, velocity, radius, covariances, and sampled predicted positions from the obstacle tracker to the Nav2 controller plugin; SolverDiagnostics carries per-control-cycle NMPC/QP solver telemetry. Interface-only package; no node.

Additional Links

Maintainers

Simone Contorno

Authors

No additional authors.

prox_mpc_msgs

The message contract between the ProxMPC obstacle tracker and the Nav2 controller plugin.

This is an interface-only package (rosidl messages, no node, no library code). It defines the messages that carry tracked dynamic obstacles from prox_mpc_obstacle_tracker to prox_mpc_controller for predictive obstacle avoidance, plus a per-cycle solver-telemetry message used for benchmarking.

Overview

The package generates three messages with rosidl and exports the runtime through rosidl_default_runtime. It depends only on std_msgs and geometry_msgs, so any package on the workspace can consume the obstacle feed without pulling in the tracker or the controller.

Message	Purpose
`prox_mpc_msgs/msg/Obstacle`	One tracked dynamic obstacle: id, planar position, velocity, enclosing radius, covariances, and sampled predicted positions.
`prox_mpc_msgs/msg/ObstacleArray`	A set of tracked obstacles published once per processed scan, with a header carrying the scan stamp and tracking frame.
`prox_mpc_msgs/msg/SolverDiagnostics`	Per-control-cycle NMPC/QP solver telemetry for benchmarking (real-time, feasibility, and accuracy inputs).

Messages

Obstacle

A single tracked dynamic obstacle, expressed in the frame of the enclosing ObstacleArray header.

Field	Type	Unit	Meaning
`id`	`uint32`	-	Stable track identifier, reused across scans for the same physical object.
`position`	`geometry_msgs/Point`	m	Planar centroid; `z` unused (kept 0) by the 2D tracker.
`velocity`	`geometry_msgs/Vector3`	m/s	Estimated velocity; `z` unused (kept 0).
`radius`	`float64`	m	Enclosing radius of the detected cluster.
`position_covariance`	`float64[4]`	m²	2x2 position covariance, row-major `[xx, xy, yx, yy]`. Informational: the tracker fills it, but the bundled controller reads neither covariance field.
`velocity_covariance`	`float64[4]`	m²/s²	2x2 velocity covariance, row-major `[xx, xy, yx, yy]`. Informational: the bundled controller’s clearance growth is driven by its own `prediction_uncertainty_growth` parameter, not this field.
`predicted_positions`	`geometry_msgs/Point[]`	m	Sampled predicted centroid positions in the `ObstacleArray` header frame; sample `k` (0-based) is the prediction at `header.stamp + (k+1) * prediction_dt`. `z` unused (kept 0). Empty when prediction sampling is disabled (`prediction_steps: 0`); consumers then fall back to a straight constant-velocity ray.
`prediction_dt`	`float64`	s	Spacing between predicted samples; `0.0` when `predicted_positions` is empty.

ObstacleArray

A set of tracked obstacles published once per processed scan.

Field	Type	Meaning
`header`	`std_msgs/Header`	`stamp` is the source scan time; `frame_id` is the tracking frame (a non-rotating frame, for example `odom`).
`obstacles`	`Obstacle[]`	The confirmed tracks for this scan.

SolverDiagnostics

Per-control-cycle NMPC/QP solver telemetry, filled from fields the core already computes (qp_info, sqp_iter, qp_iter_ext, slack w). Publishers are opt-in: on by default in the standalone simulation, off by default and only-when-subscribed in the production controller plugin (publish_diagnostics).

Field	Type	Unit	Meaning
`header`	`std_msgs/Header`	-	Control-cycle stamp; `frame_id` is the robot base frame the cycle was solved in.
`solve_time_ms`	`float64`	ms	Wall solve time measured around `MPC::solve()`.
`qp_solve_time_ms`	`float64`	ms	QP-reported solve/run time from `qp_info`.
`status`	`uint8`	-	Outcome of the last QP, as one of this message’s own `STATUS_*` constants (see below).
`converged`	`bool`	-	`true` when the cycle converged (`status == STATUS_SOLVED` and the applied iterate is finite); the caller’s fail-safe runs otherwise.
`sqp_iters`	`uint32`	-	SQP iterations.
`qp_iters_ext`	`uint32`	-	Total external QP iterations summed over the SQP loop.
`primal_residual`	`float64`	-	Final QP primal residual (`qp_info.pri_res`).
`dual_residual`	`float64`	-	Final QP dual residual (`qp_info.dua_res`).
`objective`	`float64`	-	Final QP objective value (`qp_info.objValue`).
`max_obstacle_slack`	`float64`	m	Max obstacle soft-keep-out slack `w` over the horizon; `> 0` means the keep-out was relaxed (a safety-feasibility signal). 0 when avoidance is disabled.
`control_period_ms`	`float64`	ms	Measured inter-cycle wall period; `NaN` on the first cycle.
`deadline_missed`	`bool`	-	`true` when `solve_time_ms` exceeds the `1000*dt` budget. `control_period_ms` is deliberately excluded: the nominal period equals the budget by construction, so any period threshold would need an arbitrary slack.
`num_active_obstacles`	`uint16`	-	Number of filled (non-sentinel) obstacle slots considered this cycle.

The status field takes one of the following constants. They are this message’s own contract, not a copy of PROXQP’s QPSolverOutput ordering: the publisher maps the solver enum onto them explicitly, because proxsuite 0.6.5 inserted PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE in the middle of its enum and a mirrored value would have silently shifted meaning. New states are appended, so a recorded value never changes meaning.

Constant	Value	Meaning
`STATUS_SOLVED`	0	Converged.
`STATUS_MAX_ITER_REACHED`	1	Iteration cap reached before convergence.
`STATUS_PRIMAL_INFEASIBLE`	2	Primal infeasible.
`STATUS_DUAL_INFEASIBLE`	3	Dual infeasible.
`STATUS_NOT_RUN`	4	Solver was not run this cycle.
`STATUS_SOLVED_CLOSEST_PRIMAL_FEASIBLE`	5	The closest (L2 sense) primal-feasible problem was solved.
`STATUS_UNKNOWN`	255	A solver state this message does not model (an upstream enumerator added after the mapping was written).

Interface Contract

The producer (prox_mpc_obstacle_tracker) publishes an ObstacleArray per processed scan on tracked_obstacles (rclcpp::QoS(KeepLast(5)), reliable), with positions and velocities expressed in a fixed, non-rotating tracking frame and the header stamp set to the scan time.

The consumer (prox_mpc_controller) subscribes when predict_obstacles is enabled (reliable, depth 5).

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CHANGELOG

Changelog for package prox_mpc_msgs

1.0.0 (2026-07-28)

Initial release: Obstacle and ObstacleArray messages for tracked dynamic obstacles (id, position, velocity, radius, covariances, and the sampled predicted positions with their time step).
SolverDiagnostics message: per-control-cycle NMPC/QP solver telemetry (solve times, QP status and convergence, SQP/QP iteration counts, residuals, objective, max obstacle slack, control period, and deadline/active-obstacle signals) for benchmarking; publishers are opt-in.
Contributors: Simone Contorno

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
prox_mpc_benchmark
prox_mpc_controller
prox_mpc_demo
prox_mpc_obstacle_tracker

Launch files

No launch files found

Messages

Services

No service files found

Plugins

No plugins found.

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