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USE-jx / repository
This repository implements a Nonlinear Model Predictive Control (NMPC) approach for tracking local trajectories generated by Fastplanner.
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需要安装casadi，C++需要源码安装casadi，casadi要调用ipopt这个非线性求解器,所以安装casadi前需要安装ipopt,我也是参考别人博客安装的。
编译mpc_tracking 这个功能包报错找不到什么包可以先编译fastplanner，然后再编译其他的，当然没编译过fastplanner的需要去安装点东西，具体可以去fastplannergithub仓库去看去安装一下。
功能： 启动仿真环境，会出现一个带雷达的小车。
启动： roslaunch omni_gazebo gazebo.launch
功能： 把雷达系的点云转到odom系下，传给fastplanner的建图包。
启动： rosrun lidar2world lidar2world_node
功能： 跟踪fastplanner生成的局部轨迹
启动： rosrun mpc_tracking mpc_tracking_node
功能： 实时建立小车前方摄像头可视范围内的障碍物地图，实时地生成避障轨迹，是一个位置环境的局部规划器。
详情请见：https://github.com/HKUST-Aerial-Robotics/Fast-Planner
roslaunch plan_manage 16_lidar.launchroslaunch plan_manage rviz.launchSelected from shared topics, language and repository description—not editorial ratings.
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