JialiangHan / mpc_path_follower_ros

based on ros navigation stack, using mpc to do path tracking

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