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Trajectory Tracking Controller for ROS Package Using Nonlinear Model Predictive Control (MPC) with C/GMRES Method

License: BSD 3-Clause "New" or "Revised" License

CMake 0.61% C++ 88.20% Python 10.94% Shell 0.24%

nonlinear-mpc trajectory-tracking cgmres ros path-tracking mpc

mpc_tracker_ros's Issues

why not "front_pt_index = nearest_point_index - 1" ?

mpc_tracker_ros/src/frenet_serret_converter.cpp

Line 165 in 457c402

front_pt_index = nearest_point_index;

MPC is not solved

Hello, I have met some questions, could you please answer them for me? Thank you very much.

How to use the MPC tracker

Hi there, I am quite new to this topic. So I was wondering, how to get the map? Or should I create my own map?

Thank you in advance.

MPC output value is very small in simulation

Hello, I encountered a problem. When calling your code, I passed in a trajectory. This trajectory includes 10 x, y coordinates and can be visualized in rviz.

But after publishing the trajectory to /reference_path, I used rostopic echo /twist_cmd and found that the speed and angular speed changed from 0 to about 0.05, and the simulation model did not move.

The simulation model uses turtlebot3. The above text is translated using Google. There may be some expression problems. Please forgive me.

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