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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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Unify the 3 dynamic reconfigure servers into one (retaining tabs) #45

Open corot opened 2 years ago

corot commented 2 years ago

Hi, this issue is both a question and a proposal.

question: what are the benefits of splitting the dynamic reconfigurable parameters into 3 servers? The drawback I found is that we cannot treat MPC as any other local planner when changing generic parameters as the goal tolerances.

proposal: replicate TEB architecture with a single server but multiple tabs, so parameters are neatly distributed on RQT reconfigure but still accessible under a predictably named server (we will PR the change if deemed opportune).

kosmastsk commented 2 years ago

This change was introduced in #24 . The initial implementation contained only a single .cfg file for all dynamic reconfigure parameters.

corot commented 2 years ago

I see the problem; but seems to me that PR #24 is adapting to the parameters namespace structure created with this example configuration

I think it would had been simpler to rewrite the configuration file declaring all MPC parameters in its own file and all the other parameters in a separated testing configuration. The 3 reconfigure servers looks rather overkilling to me