mpc_local_planner

(β˜… 663)

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

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Download Latest Version (.zip)
  • .gitignore
  • COPYING.md
  • README.md

# Installation Guide

1. Get the code
git clone https://github.com/rst-tu-dortmund/mpc_local_planner

Downloads the entire project code from GitHub to your computer.

cd mpc_local_planner

Moves into the project folder you just downloaded.

2. CMake

Medium Recommended
Prerequisites
  • Git Needed to download the project code from GitHub.
  • CMake The tool used to generate build configuration.
  • C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.
cd mpc_local_planner

This project's files live in a subfolder, so move into it first.

mkdir build && cd build

Creates a folder to hold the build output and moves into it.

cmake ..

Analyzes the source code and generates build configuration files (must be run inside the build folder).

make

Compiles the code based on the generated build configuration to produce an executable.

βœ… Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).

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// repository documentation