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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
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Difference between mpc_ros global_planner and navigation stack global_planner? #9

Closed HappySamuel closed 3 years ago

HappySamuel commented 3 years ago

Hi @Geonhee-LEE

I have tried out your mpc_ros in the gazebo. I found that there's additional global_planner in the package. May i know what's the difference between your mpc_ros global_planner and navigation stack global_planner? Because i have written the highway costmap plugins. But it can only work with the navigation stack global_planner, so i couldn't get it to work with your mpc_ros global_planner.

Best, Samuel

Geonhee-LEE commented 3 years ago

@HappySamuel
Hello, the reason why I implemented the global_planner is for integrating the ROS navigation stack. Actually, mpc_ros is not local planner in ROS but independent model to use in ROS. Therefore, you can work with this package but you should consider ROS navigation stack for turning off other local planner.

HappySamuel commented 3 years ago

Hi @Geonhee-LEE

Thanks for the clarification. Is there any documents/guidelines that i can refer to for parameters tuning on the mpc_ros?

Best, Samuel

Geonhee-LEE commented 3 years ago

Hi @HappySamuel. Sorry for that. Parameters tuning is up to your preference, but it may be easy to regulate it.