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ROS MPC trajectory tracker. Currently only supports diff-drive/skid-steering UGVs.

CMake 7.40% C++ 83.73% Python 8.13% Shell 0.74%
mpc ros navigation tracking trajectory control ipopt nonlinear

mpc_trajectory_tracking's Issues

There is a problem with catkin_make

Hello, I installed ipopt and CppAD as required, but I encountered the following problems in the subsequent catkin_make. How should I solve them?
undefined reference to 'CppAD::local::temp_fileabi:cxx11'
gnome-shell-screenshot-C8JSK2
The above is translated using Google. Please forgive me if there are any problems.

questions regarding MPC cost function

Hi,
I've been playing with your trajectory_tracking code, very nice work.
I have a few questions regarding the setup of the controller.

  1. The objective of the mpc_traj_tracking is to minimize the cross-track error. Why do you penalize x, y deviations in the cost function, are they redundant?
  2. I notice there is a difference of range for penalizing linear velocity and angular velocity. why is that?
    image
  3. Is it more precise to have this "limit formation" of kinematics?
    image

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