70 lines
3.4 KiB
Markdown
70 lines
3.4 KiB
Markdown
mpc_local_planner ROS Package
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=============================
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The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack.
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It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.
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For custom build instructions (e.g. compilation with other third-party solvers) see [this wiki](https://github.com/rst-tu-dortmund/mpc_local_planner/wiki).
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Refer to http://wiki.ros.org/mpc_local_planner for more general information and tutorials.
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Build status:
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- ROS Melodic (*melodic-devel*): [](http://build.ros.org/job/Mdev__mpc_local_planner__ubuntu_bionic_amd64/)
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## Authors
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* Christoph Rösmann <christoph.roesmann@tu-dortmund.de>
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## Citing the Software
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*Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the software for published work.*
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**Main Paper and Approach**
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- C. Rösmann, A. Makarow, and T. Bertram: Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups, [arXiv:2006.03534 '[cs.RO]'](https://arxiv.org/abs/2006.03534), June 2020.
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**Standard MPC and Hypergraph**
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- C. Rösmann, M. Krämer, A. Makarow, F. Hoffmann and T. Bertram: Exploiting Sparse Structures in Nonlinear Model Predictive Control with Hypergraphs, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), New Zealand, July 2018.
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**Time-Optimal MPC and Hypergraph**
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- C. Rösmann: [Time-optimal nonlinear model predictive control, Direct transcription methods with variable discretization and structural sparsity exploitation](http://dx.doi.org/10.17877/DE290R-20283). Dissertation, Technische Universität Dortmund, Oct. 2019.
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- C. Rösmann, F. Hoffmann und T. Bertram: Timed-Elastic-Bands for Time-Optimal Point-to-Point Nonlinear Model Predictive Control, European Control Conference (ECC), Austria, July 2015.
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<a href="https://www.buymeacoffee.com/croesmann" target="_blank"><img src="https://www.buymeacoffee.com/assets/img/guidelines/download-assets-sm-2.svg" alt="Buy Me A Coffee"></a>
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## License
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Copyright (c) 2020, Christoph Rösmann, All rights reserved.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <https://www.gnu.org/licenses/>.
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The package depends on third-party packages:
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- *control_box_rst*, GPLv3, https://github.com/rst-tu-dortmund/control_box_rst
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Please check also the dependencies of control_box_rst (not all modules
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are included at the moment)
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- *Ipopt*, EPL 1.0, https://github.com/coin-or/Ipopt
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It depends on other ROS packages, which are listed in the package.xml. They are licensed under BSD resp. Apache 2.0.
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## Requirements
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Install dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*:
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rosdep install mpc_local_planner
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