prox_mpc_test_models

Test-fixture prox_mpc::Model plugins for the ProxMPC stack.

These are fault-injection models that exercise controller fail-safe paths the bundled production models cannot reach. They are registered against the same prox_mpc::Model base as the core models, so prox_mpc_controller loads them through its ordinary pluginlib path during testing - no test-only seam in production code.

Not for production use. This package exists only to drive tests.

Table of Contents

• Overview
• Models
• How It Is Used
• Prerequisites
• Build
• Project Structure
• License

Overview

The package is a header-and-plugin fixture: it contributes one deliberately faulty prox_mpc::Model implementation and its pluginlib registration, with no executable and no ROS node. It is a <test_depend> of prox_mpc_controller, so it is present only when that package’s tests are built.

Models

The NonFiniteTwist model is the only seam that reaches the controller’s non-finite-command fail-safe: a finite-mapping model cannot produce a non-finite twist from a finite control, so this fixture is required to cover that branch. The controller test asserts the controller brakes at the model deceleration limit and then escalates to nav2_core::NoValidControl once the failure budget is spent.

How It Is Used

The package is a <test_depend> of prox_mpc_controller. Its plugins are registered against the prox_mpc::Model base (through prox_mpc_test_models_plugins.xml, exported for the prox_mpc_core base package), so the controller’s pluginlib::ClassLoader<prox_mpc::Model>("prox_mpc_core", ...) discovers them by name.

Prerequisites

• ROS 2 Jazzy on Ubuntu 24.04.
• prox_mpc_core (the prox_mpc::Model base and its build export).
• Eigen3, geometry_msgs, pluginlib, proxsuite (>= 0.6.5), rclcpp, resolved by rosdep.

Build

cd ~/ros2_ws
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install --packages-select prox_mpc_core prox_mpc_test_models
source install/setup.bash
ros2 plugin list --package prox_mpc_test_models   # lists prox_mpc_test_models/NonFiniteTwist

ros2 plugin list --package prox_mpc_test_models reports the fixture’s plugin under the prox_mpc::Model base; the --package value is the package that installs the plugin description, not the base package.

Project Structure

prox_mpc_test_models/
├── include/prox_mpc_test_models/
│   └── non_finite_twist_model.hpp
├── src/
│   └── plugins.cpp
├── CHANGELOG.rst
├── CMakeLists.txt
├── package.xml
├── prox_mpc_test_models_plugins.xml
└── README.md

The package ships no test suite of its own; it is the fixture that the prox_mpc_controller tests load.

License

Apache-2.0. Each source file carries a short SPDX-License-Identifier: Apache-2.0 header.

Changelog for package prox_mpc_test_models

1.0.0 (2026-07-28)

• Initial release: fault-injection prox_mpc::Model plugin (NonFiniteTwist) used by the controller test suite to exercise fail-safe branches through the real pluginlib load path.
• Contributors: Simone Contorno