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nav2_mpc_controller package from nav2_mpc_controller reponav2_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.
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.
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_cmake_gtest | |
ament_lint_common | |
ament_lint_auto | |
nav2_common | |
nav2_core | |
nav2_util | |
nav2_costmap_2d | |
rclcpp | |
geometry_msgs | |
nav2_msgs | |
pluginlib | |
tf2 |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
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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