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mpc_planner_jackal package from mpc_planner repompc_planner mpc_planner_jackal mpc_planner_jackalsimulator mpc_planner_modules mpc_planner_msgs mpc_planner_rosnavigation mpc_planner_solver mpc_planner_types mpc_planner_util |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | An MPC Motion Planner in ROS/C++ |
| Checkout URI | https://github.com/tud-amr/mpc_planner.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-30 |
| Dev Status | UNKNOWN |
| 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
Package for real-world control of the Clearpath Jackal
Additional Links
No additional links.
Maintainers
- Oscar de Groot
Authors
No additional authors.
Jackal
This package implements planning with collision avoidance for the Clearpath Jackal ground robot.
Several additional packages are required to run the planner in the lab. These are available under https://github.com/tud-amr/mpc_planner_ws in lab.repos.
Demo Instructions
- Connect to
mrl-wifi-5g. -
ip a, setROS_IPinconnect_to_jackal.sh. -
Ctrl + Shift + B->Jackal: Run Real-World Jackal
Notes
- The launch file configures the number of pedestrians, which needs to be correct for any pedestrian to be detected.
- The launch file also allows static obstacles with markers to be added (as dynamic obstacle with zero velocity).
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 |
|---|---|
| catkin | |
| roadmap | |
| vicon_bridge | |
| vicon_util | |
| roscpp | |
| mpc_planner | |
| mpc_planner_solver | |
| mpc_planner_util | |
| mpc_planner_types | |
| mpc_planner_msgs | |
| ros_tools | |
| dynamic_reconfigure | |
| nav_msgs | |
| derived_object_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/ros1_jackal.launch
-
- gui [default: false]
- project_name [default: ]
- roadmap [default: maps/mobile_robotics_lab/diagonal.xml]
- jackal_name [default: jackal3]
- object_msg_types [default: [geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/PoseWithCovarianceStamped]]
- object_frame_ids [default: [map, map, map, map, map, map, map]]
- object_publish_topics [default: [/vicon/$(arg jackal_name), /vicon/dynamic_object1, /vicon/dynamic_object2, /vicon/dynamic_object3, /vicon/dynamic_object4, /vicon/dynamic_object5, /vicon/dingo1]]
- object_frequency_divider [default: [2, 2, 2, 2, 2, 2, 2]]
- dynamic_object_topics [default: [$(arg jackal_name), dynamic_object1, dynamic_object2, dynamic_object3, dynamic_object4, dynamic_object5]]
- dynamic_object_radius [default: 0.4]
- static_object_topics [default: []]
- static_object_radius [default: 0.3]
- static_object_sizes [default: []]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mpc_planner_jackal at Robotics Stack Exchange
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