ROS IndexNo version for distro humble showing melodic. Known supported distros are highlighted in the buttons above.
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. |
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mpc_local_planner at Robotics Stack Exchange
No version for distro jazzy showing melodic. Known supported distros are highlighted in the buttons above.
|
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. |
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mpc_local_planner at Robotics Stack Exchange
No version for distro kilted showing melodic. Known supported distros are highlighted in the buttons above.
|
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. |
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mpc_local_planner at Robotics Stack Exchange
No version for distro rolling showing melodic. Known supported distros are highlighted in the buttons above.
|
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. |
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mpc_local_planner at Robotics Stack Exchange
No version for distro github showing melodic. Known supported distros are highlighted in the buttons above.
|
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. |
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mpc_local_planner at Robotics Stack Exchange
No version for distro galactic showing melodic. Known supported distros are highlighted in the buttons above.
|
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. |
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mpc_local_planner at Robotics Stack Exchange
No version for distro iron showing melodic. Known supported distros are highlighted in the buttons above.
|
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. |
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mpc_local_planner at Robotics Stack Exchange
|
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. |
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mpc_local_planner at Robotics Stack Exchange
|
|
mpc_local_planner package from mpc_local_planner repompc_local_planner mpc_local_planner_examples mpc_local_planner_msgs |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations. |
| Checkout URI | https://github.com/rst-tu-dortmund/mpc_local_planner.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2020-07-19 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | path-planning ros mpc mobile-robots trajectory-optimization car-like-robots model-predictive-control |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The mpc_local_planner package implements a plugin
to the base_local_planner of the 2D navigation stack.
It provides a generic and versatile model predictive control implementation
with minimum-time and quadratic-form receding-horizon configurations.
Additional Links
Maintainers
- Christoph Rösmann
Authors
- Christoph Rösmann
README
No README found.
See repository README.
CHANGELOG
Changelog for package mpc_local_planner
0.0.3 (2020-06-09)
- Added feasibility check with costmap robot model
- Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
- Added check for obstacle pointer validity in StageInequalitySE2
- Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
- Added hybrid cost (time and control effort)
- Added kinematic bicycle model with velocity input
- Grid: The time difference is now initialized to dt_ref for reference trajectory caching
- Fixed wrong start orientation in point-to-point grid initialization
- Fixed wrong angular computation in midpoint differences
- Added missing install files (thanks to marbosjo)
- Changed minimum CMake version to 3.1
- Contributors: Christoph Rösmann, marbosjo
0.0.2 (2020-03-12)
- Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
- Fixed issues in fd discretization grid and graph consistency
- Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
- Fixed wrong parameter namespaces for some grid parameters
- Replaced non-ASCII characters in python script
- Added find_package script for osqp in case control_box_rst is linked against it
- Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
0.0.1 (2020-02-20)
- First release
- Contributors: Christoph Rösmann
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| mpc_local_planner_examples |
Launch files
- launch/test_mpc_optim_node.launch
-
- plot [default: false]
- plot_states [default: false]
- cpu_time [default: false]
Messages
No message files found.
Services
No service files found