Model Predictive Control Local Planner Plugin for move_base navigation stack

Works in ros-melodic version.

Temporary working environment (morse simulator and maps from my master course).

Before Run

Install Ipopt: Please refer the tutorial in "document/ipopt_install".

Put this in your launch file like a normal move_base plugin and load the params file:

  <param name="base_local_planner" value="mpc_local_planner_mb/MPCLocalPlannerMBROS" />
  <rosparam file="$(find mpc_local_planner_mb)/cfg/mpc_params.yaml" command="load" />

Parameters yaml file:

• debug_info: For internal ros warnings info for computations of steering, speed, cte and more values.

• delay_mode: Added a delay mode equals to differential time(dt)

• max_speed: Max speed value

• min_speed: Min speed value

• goal_radius: value for goal radius (in meters)

• controller_freq: Value to syschronize the planner with control loop of move base, (in our case didn't solve the problem of control loop failure)

• mpc_max_steering: Value of the maximum available steering

• mpc_max_throttle: Value for the maximum accelaration

• mpc_steps: Value for setting the horizon of MPC ( really big means high computation)

• mpc_ref_cte + mpc_w_cte: values for cte error caclculation in cost function

• mpc_ref_epsi + mpc_w_epsi: values for orientation error caclculation in cost function

• mpc_ref_vel + mpc_w_vel: values for speed error caclculation in cost function

• The rest values were based in the external reference

Coming

New rviz.

New map file.

Code optimization.

Yaw tolerance.

Global functionality.

External Reference

HyphaROS MPC MiniCar(https://hypharosworkshop.wordpress.com/)