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.
I'm applying MPC to an omnidirectional robot, but I'm having some questions:
1- In the robot configuration file it has a function (getTwistFromControl) where it sets the robot to move in x with a certain speed u[0], according to an angle u[1]. I need to decompose the speed in vx and vy in the case of an omnidirectional robot v = sqrt(vx^2+vy^2).
I am confused how to decompose the speed coming from the controller into vx and vy
The function getTwistFromControl -> Convert the control vector to a twist message (containing velocity information)
I'm applying MPC to an omnidirectional robot, but I'm having some questions:
1- In the robot configuration file it has a function (getTwistFromControl) where it sets the robot to move in x with a certain speed u[0], according to an angle u[1]. I need to decompose the speed in vx and vy in the case of an omnidirectional robot v = sqrt(vx^2+vy^2).
I am confused how to decompose the speed coming from the controller into vx and vy
The function getTwistFromControl -> Convert the control vector to a twist message (containing velocity information)