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Geonhee-LEE / mpc_ros

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS
https://www.youtube.com/watch?v=5IqFGBmDGjU
Apache License 2.0
727 stars 169 forks source link

Replacement solver #40

Closed zrd1234 closed 1 year ago

zrd1234 commented 1 year ago

Hello, the ipopt solver seems to be unable to work under the arm architecture. May I ask what part of work should be done if you want to change the solution? Thank you.

Geonhee-LEE commented 1 year ago

I recommend the optimization solver with CasADi, ACADOS in order to solve the MPC problem .

zrd1234 commented 1 year ago

Hello, do I just need to replace trackRefTraj.cpp with ipopt?

Geonhee-LEE commented 1 year ago

@zrd1234 I think it is not easy to replace it. Because each solver's interface may be different such as Eigen, Vector, self-structured.

zrd1234 commented 1 year ago

@zrd1234 I think it is not easy to replace it. Because each solver's interface may be different such as Eigen, Vector, self-structured.

Hello, I'm really sorry. If you are free, could you upload and modify the code of the solver? Thank you very much.