/mpc_path_follower_ros

based on ros navigation stack, using mpc to do path tracking

Primary LanguageC++

MPC path follower based on ros navigation stack

Abstract

MPC path follower, Using ros navigation stack, Working with move_base, Not stable version Currently, it only can follow global path with small curve.

About us

Developer:

  • Will, zhang
    Date: 2019.07.18

Features

  • Nonlinear Bicycle Model Based MPC (through ipopt solver)
  • Based on ros navigation

References

Dependency

  1. Install ROS Kinetic (Desktop-Full) (http://wiki.ros.org/kinetic/Installation/Ubuntu)
  2. Install dependencies:
    $ sudo apt-get install remmina synaptic gimp git ros-kinetic-navigation* ros-kinetic-gmapping ros-kinetic-ackermann-msgs ros-kinetic-turtlebot*-y
  3. Install Ipopt: Please refer (https://github.com/udacity/CarND-MPC-Project/blob/master/install_Ipopt_CppAD.md)
  4. create your own catkin_ws
    (http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)
  5. cd catkin_ws/src
  6. git clone https://github.com/yinzixuan126/mpc_path_follower_ros
  7. cd ..
  8. catkin_make

Operation

Simulation

  • ---to launch turtlebot gazebo
  • roslaunch turtlebot_gazebo turtlebot_world.launch
  • ---to launch mpc path follower
  • roslaunch mpc_path_follower mpc_test.launch
  • ---to launch rviz
  • roslaunch mpc_path_follower view_navigation.launch