I'm trying to use the MPC controller, only I'm having some difficulty.

As soon as I am setting a goal, I am getting this: [move_base-3] process has died [pid 373175, exit code -11, cmd /opt/ros/noetic/lib/move_base/move_base /scan:=/scan_front /cmd_vel:=/idmind_motors/twist __name:=move_base __log:=/home/euroage/.ros/log/980f7870-a6e8-11ed-a1f9-e0d55e204096/move_base-3.log].

!! MPC Obj parameters updated !! 

===== Parameters =====
debug_info: 0
delay_mode: 1
frequency: 1
mpc_steps: 10
mpc_ref_vel: 1
mpc_w_cte: 1000
mpc_w_etheta: 10
max_vel_theta: 1.5
[move_base-3] process has died [pid 373175, exit code -11, cmd /opt/ros/noetic/lib/move_base/move_base /scan:=/scan_front /cmd_vel:=/idmind_motors/twist __name:=move_base __log:=/home/euroage/.ros/log/980f7870-a6e8-11ed-a1f9-e0d55e204096/move_base-3.log].
log file: /home/euroage/.ros/log/980f7870-a6e8-11ed-a1f9-e0d55e204096/move_base-3*.log

Thanks for help

• When launched the launch file, process died abnormally:
  

Hello, I find your project very attractive and I want to learn some knowledge about it. I see that the “zetabot-ros” is “private”, is this a pack about a specific robot? And I wonder if the parts involved can be replaced with others(like turtlebot). Thank you for your help.

Hello, I found that when the robot started tracking, it would report an error. What is the reason? Thank you very much.

Hello, Geonhee

I would like to get information about the parameters you use in the scripts in the "param" folder for the epitrochoid, square.... Because I am trying to adapt it to my own robot and to modify them I would like to understand them.
If you could provide me with any documentation on them I would appreciate it.

Thank you, best regards.

안녕하세요.
설명대로 Ipopt 설치 과정중 ./get.Mumps 이후로 넘어가지가 않습니다
혹시 해결 방법이 있을까요?

Hi, I want to compare the simulation results of MPC and DWA.

I completed the simulation with MPC, like this:

But I don't know how to make a simulation with DWA, like the right results in this picture.

Hello, @Geonhee-LEE maintainer.
I follow your README for the demonstration on Noetic.
On while, I fixed some issue to launch your code on noetic.
I would like to contribute new PR, but there is no Noetic branch.
Could you make a branch for this contribution?

hello
when I use mpc_ros local planner plugin, I find a error

src/mpc_ros/mpc_ros/include/cppad/utility/error_handler.hpp:206:
 static void CppAD::ErrorHandler::Default(bool, int, const char*, const char*, const char*): Assertion `false' failed.

please tell me how to handle it
thanks

hello,i have a question:
in the source code，you open the csv, so where is the csv?how can i get it?
Thanks!

What are the requirements if I want to test the package on a real wheeled robot?
Do I need to install wheels encoders and IMU?

After this, how should I define the path to track?

Currently building on Ubuntu 20.04 (ROS Noetic) on local_planner_plugin branch. I get the following error messages:

...

                 from /home/john/catkin_ws/src/mpc_ros/mpc_ros/src/navMPC.cpp:19:
/usr/include/coin/IpSmartPtr.hpp:18:4: error: #error "don't have header file for stddef"
   18 | #  error "don't have header file for stddef"

...

                 from /home/john/catkin_ws/src/mpc_ros/mpc_ros/src/mpc_plannner.cpp:19:
/usr/include/coin/IpSmartPtr.hpp:18:4: error: #error "don't have header file for stddef"
   18 | #  error "don't have header file for stddef"

...

                 from /home/john/catkin_ws/src/mpc_ros/mpc_ros/src/MPC.cpp:21:
/usr/include/coin/IpSmartPtr.hpp:18:4: error: #error "don't have header file for stddef"
   18 | #  error "don't have header file for stddef"

...

                 from /home/john/catkin_ws/src/mpc_ros/mpc_ros/src/trackRefTraj.cpp:20:
/usr/include/coin/IpSmartPtr.hpp:18:4: error: #error "don't have header file for stddef"
   18 | #  error "don't have header file for stddef"

...

One way to fix said errors is to adopt the fix suggested by this Stack Overflow answer,
where I add the following define headers to navMPC.cpp, mpc_plannner.cpp, MPC.cpp, trackRefTraj.cpp :

#define HAVE_CSTDDEF
#include <cppad/ipopt/solve.hpp>
#undef HAVE_CSTDDEF

Hello Geonhee,
We solved the error we told you few days ago. It was due to some servingbot libraries when I was doing the catkin_make.
But, now, launching roslaunch mpc_ros ref_trajectory_tracking_gazebo.launch opens rviz, but does not open Gazebo.
Error: Could not find the 'robot' element in the xml fil at line 80 in /build/urdfdom-YMMa9X/urdfdom-1.0.0/urdf_parser/src/model.cpp

Thank you very much in advance.

Integration with costmap

What is the meaning of d and η in the path tracking model? Can you explain it? Thank you!!!

Hi, great work. Just managed to get it to work on my machine in a docker container.

I saw you have planned to implement your work in ROS2 and just wanted to ask what the progress on that is?

Thank you!

Hello,
We are a group of robotic engineering students from Spain.

We are developing a project related to the model predictive control

We have implemented the "servingbot" model following all the steps indicated. We have installed ubuntu 18.04 together with ROS Melodic, we have installed the dependencies of ROS, IPOPT and cloned the repositories in our own catkin.

After that, We get errors when launching some nodes. Attached is a screenshot:

When launching mpc_ros nav_gazebo.launch
I have an error:

cannot launch node of type [mpc_ros/nav_mpc]: Cannot locate node of type [nav_mpc] in package [mpc_ros]. Make sure file exists in package path and permission is set to executable (chmod +x)
When I try to search for the mpc_ros file in my directory I can't find it.

When launching roslaunch mpc_ros ref_trajectory_tracking_gazebo.launch
I have an error:

cannot launch node of type [mpc_ros/tracking_reference_trajectory]: Cannot locate node of type [tracking_reference_trajectory] in package [mpc_ros]. Make sure file exists in package path and permission is set to executable (chmod +x)
This file also does not exist in my directory

The question is: Do I have to create those files? If so, how do I do it?
How can I reference the robot?

I await your response, anything could be helpful.

Thank you so much.

If I use the Navigation stack of ROS, this project is a substitute of the dwa_local_planner. Is that right?

If it is a complete project, but I can't catkin_make this project. Is there something omitted with the operating steps?

Thank you!

Hi, thank you very much for sharing this library!
I was wondering what would I need to change in order to make it work with my custom car-like (Ackerman) robot?
Is there some kind of a doc/wiki/pdf for this?

Thank you!

• Transform with Local planner Plugin

• Add and separate the Motion model (DDMR, Ackermann) for generalization

Thanks for your code.
I tried to reimplement it, but the robot didn't move at all.
It seems like a tf problem. Could you give me any advice?

Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_link does not exist.. canTransform returned after 98.075 timeout was 0.1.

Thanks and regards.

Hello, the ipopt solver seems to be unable to work under the arm architecture. May I ask what part of work should be done if you want to change the solution? Thank you.

Hi @Geonhee-LEE

I have tried out your mpc_ros in the gazebo. I found that there's additional global_planner in the package. May i know what's the difference between your mpc_ros global_planner and navigation stack global_planner? Because i have written the highway costmap plugins. But it can only work with the navigation stack global_planner, so i couldn't get it to work with your mpc_ros global_planner.

Best,
Samuel

I launch the launch file (ref_trajectory_tracking_gazebo.launch).
But, the robot isn't moving.

I think this issue is same as #5.
How to connect /map frame with /odom frame?

• ROS2 porting

Does the algorithm only use MPC for path tracking, or is it also used for local path planning? I read some source codes and found that it seems to track the trajectory generated by global plan。

I have gotten the ackermann model and I want to know how to replace the diff model in the servingbot ,in other words,what orders I should change in the bag.
thanks for your help!

Excuse me! I have a question ,Follow the README.md, and I run the mpc_ros nav_gazebo.launch, the RVIZ has an error .
The global status error ,Fixed Frame [map] does not exist.Can you help me to solve it ? Thank you .

• Refactoring

Hello, when I run our program, I get the following error:

How can I solve it? Thank you.

hello ,I ran this package and encountered some errors 。Terminal display this:

cost_cte, etheta, velocity: -nan, -nan, 10000
cost of actuators: -nan
cost of gap: -nan
------------ Total Cost(solution): 0------------

@Geonhee-LEE : Thanks for the great package and code refactoring. I was about to start porting MPC as local_planner_plugin as you are doing currently. I would like to integrate https://github.com/balamuruganky/path_planning, if you are interested. I request you to add the missing file in local_planner_plugin branch to proceed further. Thanks.

안녕하세요.
ipopt 설치과정중에 ./get.Mumps 이후로 넘어가지가 않습니다.
해결방법이 있을까요?

Hi, I would like to know if this planner can work on Ackermann or bicycle model without leaning dynamics? I notice that there are "kinetic branch" that has a lot of code about Ackermann and also a "bicycle_modeling branch". Thank you!

Hello,I have some questions:
I read the source code, there is a csv file loaded in it, and how does cte and eteta get in the csv file?

thanks！

Hello, could you give some material about NMPC about nonlinear unicycle model ? Thank you.

For using clearly, we should arrange or prepare more detailed description or readme.

Hi, would be possible to use this mpc package with another differential drive robot model? I'd need to use it for my model with the libgazebo_ros_diff_drive.so plugin, so I wonder if I could change the servingbot model for it.