[WIP] Port px4_mpc to ROS1

[Jaeyoung-Lim]

Problem Description This PR ports the px4-mpc package into ROS1

• Repository structure modified since catkin assumes some directory structure for the packages

Testing To test the OCP problem the following launch files can be used

• Single iteration OCP To run a single iteration of the OCP, run the following launchfile.

  roslaunch px4_mpc test_multirotor_rate_ocp.launch

  Expected result:

• Closed loop OCP To run a closed loop simulation of the MPC, run the following launchfile.

  roslaunch px4_mpc test_multirotor_rate_closedloop.launch

  Expected result:

• Running with PX4 SITL You can run the MPC in the loop with PX4 SITL.

  roslaunch px4_mpc px4_mpc/launch/sitl_multirotor_mpc.launch

  Need to take off and switch to offboard mode manually. e.g. in the px4 shell

  commander takeoff
  commander mode offboard

[Pedro-Roque]

@Jaeyoung-Lim is this worth it still?

[Jaeyoung-Lim]

Probably not anymore