mpc_noetic

How to install Ipopt on x86 environment

Install CPPAD & Fortran

sudo apt-get install cppad gfortran  

Build and install the libraries

cd {$CUSTOM_PATH}/Ipopt-3.12.8  
mkdir build  && cd build  
../configure  
make -j4  
make install  

Copy install files into specific directory

cd CUSTOM_PATH/Ipopt-3.12.8/build  
sudo cp -a include/* /usr/include/.  
sudo cp -a lib/* /usr/lib/.  

Build ros packages and run

cd ..
catkin_ cmake
cd devel
source ./setup.bash

Launch

Run Navigation algorithm with MPC in simulation:

• It can be selected with DWA, MPC, Pure persuit according to 'controller' argument.

roslaunch mpc_ros nav_gazebo.launch

Run tracking the reference line with MPC

• Tracking the trajectory such as infinity-shaped, epitrochoid, square using non-linear model predictive control.

roslaunch mpc_ros ref_trajectory_tracking_gazebo.launch

How to use as local planner

• After building successfully, you should just change the base_local_planner param with mpc_ros/MPCPlannerROS.

<param name="base_local_planner" value="mpc_ros/MPCPlannerROS"/>