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