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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
756 stars 171 forks source link

Test on real robot #42

Open robodyne-robotics opened 1 year ago

robodyne-robotics commented 1 year ago

What are the requirements if I want to test the package on a real wheeled robot? Do I need to install wheels encoders and IMU?

After this, how should I define the path to track?

Geonhee-LEE commented 1 year ago

What are the requirements if I want to test the package on a real wheeled robot? Do I need to install wheels encoders and IMU?

After this, how should I define the path to track?

The mpc_ros only supports the local planner concept of move_base. Therefore, you should prepare odometry(Wheel odom, IMU) and low-level control.