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ike_controller package from ike_nav repoike_controller ike_costmap_2d ike_launch ike_localization ike_map_server ike_nav ike_nav_msgs ike_nav_parameters ike_nav_rviz_plugins ike_nav_server ike_planner ike_waypoint_follower |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/uhobeike/ike_nav.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-12-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The ike_controller package
Additional Links
No additional links.
Maintainers
- Tatsuhiro Ikebe
Authors
No additional authors.
ike_controller
Package overview
Model Predictive ControlのROS 2 C++実装です。
ある経路nav_msgs/Pathに対して追従する速度geometry_msgs/Twistを、差動二輪型ロボットの予測モデルからCeres Solverによる最適化によって求めます。
Input / Output
Input
| Name（Service） | Type | Description |
|---|---|---|
/get_twist |
ike_nav_msgs::srv::GetTwist |
ロボットの姿勢、目標経路を入力 |
Output
| Name（Topic） | Type | Description |
|---|---|---|
/predictive_horizon |
nav_msgs::msg::Path |
予測ホライズン |
| Name（Service） | Type | Description |
|---|---|---|
/get_twist |
ike_nav_msgs::srv::GetTwist |
ロボットの姿勢、目標経路から速度を出力 |
Parameters
| Name（Parameter） | Type | Description |
|---|---|---|
delta_time |
double |
予測モデルでの経過時間 |
predictive_horizon_num |
int |
方策の数 |
lower_bound_linear_velocity |
double |
最低速度 |
lower_bound_angular_velocity |
double |
最低角速度 |
upper_bound_linear_velocity |
double |
最大速度 |
upper_bound_angular_velocity |
double |
最大角速度 |
max_num_iterations |
double |
最大反復回数 |
recovery_rotate_velocity |
double |
最適化計算が開始されるまで回転する時の角速度 |
limit_absolute_rotate_velocity |
double |
設定した以上の角速度は出力されないようにする |
Reference
LICENSE
Apache License, Version 2.0に基づいています。
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| ike_localization | |
| ike_map_server | |
| ike_planner | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclcpp_components | |
| nav2_util | |
| ike_nav_msgs | |
| geometry_msgs | |
| ike_nav_parameters |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| ike_launch | |
| ike_nav | |
| ike_nav_server |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ike_controller at Robotics Stack Exchange
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