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nav2_mpc_controller package from nav2_mpc_controller repo

nav2_mpc_controller

Package Summary

Tags No category tags.
Version 0.0.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/harderthan/nav2_mpc_controller.git
VCS Type git
VCS Version master
Last Updated 2021-09-07
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

Model Predictive Control Controller

Additional Links

No additional links.

Maintainers

  • Harderthan

Authors

No additional authors.

This is not official package for navigation2

Nav2_MPC_Controller Plugin

This is ros2 package and plugin for controller interface of Navigation2.You can use this plugin with controller server of navigation2 without any special implementation.

demo_video

Installation

Follow the official documentation below to install. Requires Navigation2 and ROS2 (Default Foxy) installation.

How to use

This is an implementation of the plugin defined by Nav2.
bringup package of Navigation2 package is a basic execution example. There are two main settings to run this plug-in.

  • Dependency Settings on package.xml
    Register this repository(pakcage).
"in package.xml"
...
<exec_depend>nav2_mpc_controller</exec_depend>
...

  • Loading Params on .py from launch files Load params .yaml file inclued this plugin configuration.
"in tb3_simulation_with_mpc_launch.py"
...
    declare_params_file_cmd = DeclareLaunchArgument(
        'params_file',
        default_value=os.path.join(bringup_dir, 'params', 'nav2_mpc_params.yaml'),
        description='Full path to the ROS2 parameters file to use for all launched nodes') 
...

Need to create new param file like nav2_mpc_params.yaml. It should include the configuration for this plugin like below.

...
    FollowPath:
      plugin: "nav2_mpc_controller::MPCController"
...

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.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav2_mpc_controller at Robotics Stack Exchange

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