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rst-tu-dortmund / mpc_local_planner

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.
http://wiki.ros.org/mpc_local_planner
GNU General Public License v3.0
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ROS Noetic crash on receiving nav goal #23

Open ElClopitan opened 3 years ago

ElClopitan commented 3 years ago

I am using a polygon model and whenever I send a navGoal, it crashes. I am using the mpc_local_planner_params_quadratic_form.yaml file for my robot and when I keep it as a point model, it doesn't crash. It only crashes once I switch to a polygon model. Any idea what I am doing wrong?

ElClopitan commented 3 years ago

carlike_minimum_time.launch This example launch file also crashes when I give it a nav goal with two_circles, line, and polygon for the footprint_model type but not with point and circular (but it does perform poorly for circular). Is there a chance I just downloaded something wrong?

Marxvans commented 2 years ago

It had crash before i lauch the carlinke_minimum_time.launch in ros noetic.

kinekt2000 commented 2 years ago

@ElClopitan, @Marxvans

Use package from noetic-devel branch. Not noetic distro.

  1. Clone branch git clone --branch noetic-devel https://github.com/rst-tu-dortmund/mpc_local_planner.git
  2. Move 'mpc_local_planner' and 'mpc_local_planner_msgs' to your workspace
  3. Run catkin_make from your workspace.
  4. Use MPC as any other plugin base_local_planner: "mpc_local_planner/MpcLocalPlannerROS

If you want just run the example, clone branch to src and run catkin_make, after all run source ./devel/setup.bash and appropriate roslaunch <example>.launch

This is not the best solution, but it works well for me.