How to enable mpc path tracking only

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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How to enable mpc path tracking only #29

Open HappySamuel opened 3 years ago

HappySamuel commented 3 years ago

I would like to try out the mpc on path tracking only, as i have my own path generating on local plan. What parameters shall i set in order to achieve this?

Best, Samuel

soldierofhell commented 3 years ago

planning.objective.type = "minimum_time_via_points"
controller.global_plan_viapoint_sep > 0