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.
It would be really helpful to use ROS dynamic reconfigure package to modify several (or all) parameters during execution, as in teb local planner package. This would help the tuning process a lot.
I am about to work on this and submit a PR soon :)
It would be really helpful to use ROS dynamic reconfigure package to modify several (or all) parameters during execution, as in teb local planner package. This would help the tuning process a lot. I am about to work on this and submit a PR soon :)