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Model Predictive Control ROS

Abstract

MPC Cotroller node
Remove intermediate local_planner to enforce follow global trajectory behavior

Features

Nonlinear Unicycle Model Based MPC w/ ipopt solver

Installation

Install Ipopt: Refer to this tutorial.

Subscribe

/global_planner
/odom

Publish

cmd_vel
cmd_vel_stmpd
/mpc_trajectory
/mpc_reference

Launch

roslaunch mpc_controller_ros mpc_cotroller_node.launch