ROS MPC node based on IpOpt and CppAD library for differential drive robot following a person at given: -Distance -Perspective -Relative angle
Workflow for simulation: -roscore -roslaunch simulation control-2-robots-empty.launch (Launches stage, map_server and fake_localization nodes.) -roslaunch mpc_node mpc-node-2-robots-MPC.launch (MPC control of the robot)
*Debugging and visualization:
-rqt_bag (Save topics publsihed in a bagfile) -PlotJuggler (Plot timeseries data easily. Online or from bagfile. Can re-publish the topics for rviz) -rosrun rviz rviz (Visualization of data over map)