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easynav_mpc_controller

ROS 2: rolling

Description

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

Authors and Maintainers

Supported ROS 2 Distributions

Distribution Status
rolling rolling

Plugin (pluginlib)

  • 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.

Parameters

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.

Interfaces (Topics and Services)

Subscriptions and Publications

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

Services

This package does not create service servers or clients.

NavState Keys

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.

TF Frames

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

License

Apache-2.0