easynav_mpc_controller

Easy Navigation: MPC Controller package.

README

A Model Predictive Controller (MPC) implementation for Easy Navigation.

Distribution	Status
rolling

Plugin Name: easynav_mpc_controller/MPCController
Type: easynav::MPCController
Base Class: easynav::ControllerMethodBase
Library: easynav_mpc_controller
Description: A Model Predictive Controller (MPC) implementation for Easy Navigation.

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_mpc_controller/MPCController/....

Name	Type	Default	Description
`<plugin>.horizon_steps`	`int`	`5`	Number of time steps in the prediction horizon.
`<plugin>.dt`	`double`	`0.1`	Integration time step (seconds).
`<plugin>.safety_radius`	`double`	`0.35`	Safety radius to check possible collisions.
`<plugin>.max_linear_velocity`	`double`	`1.5`	Maximum linear velocity (m/s).
`<plugin>.max_angular_velocity`	`double`	`1.5`	Maximum angular velocity (rad/s).
`<plugin>.verbose`	`bool`	`false`	Show data on terminal about Optimization.

Direction	Topic	Type	Purpose	QoS
Publisher	`/mpc/path`	`nav_msgs/msg/path`	MPC trajectories generate by Predictive Component.	QoS depth=10
Publisher	`/mpc/detection`	`sensor_msgs::msg::PointCloud2`	Detections used by collision checker.	QoS depth=10

This package does not create service servers or clients.

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Target path to track.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot pose/state.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Read	Last commanded velocity (if provided in state).
`points`	`PointPerceptions`	Read	Perception point cloud(s) used for costs.

This controller does not explicitly publish or require TF frames in code.

Apache-2.0