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

• https://github.com/udacity/CarND-MPC-Project
• https://github.com/Hypha-ROS/hypharos_minicar

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