MPC_Tutorial

This tutorial mainly covers the installation of MPC Planner. Other contents like theory or usage might be added in the future.

1. Installing on your Computer (for simulation).
2. Installing on your machine (for real-world testing).

Installation

Below will offer the process for installing on your machine. The process for installing on your computer will be added in the future.

On your machine

If pc and the machine use SSH to connect, it's recommended to use FileZilla to transfer files between them. For both step 1 and 2, you can place dependent packages coinor_libipopt_packages and control_box_rst anywhere.

1. Install debian packages inside folder coinor_libipopt_packages via dpkg.

   # on the machine
   ~$ cd coinor_libipopt_packages
   
   # install all the deb files in coinor_libipopt_packages
   ~$ sudo dpkg -i *.deb
   

2. Build control_box_rst. For more information, you can visit https://github.com/rst-tu-dortmund/control_box_rst.

   ~$ cd control_box_rst
   ~$ mkdir build
   ~$ cd build
   ~$ cmake ..
   ~$ make -j8 -l8
   ~$ make install
   

3. Run catkin_make in catkin_ws. You can also name your workspace (e.g. My_ws) on the machine. Then put mpc_local_planner and yocs_cmd_vel_mux (there's various directories on yujin_ocs, you only need to download yocs_cmd_vel_mux) in the src folder of your workspace.

   ~$ mkdir -p catkin_ws/src
   # put both mpc_local_planner and yocs_cmd_vel_mux in the src folder
   ~$ cd catkin_ws
   ~$ catkin_make
   
   # you can add this line to bashrc, so that you don't need to source the workspace every time you open a new terminal
   ~$ source ~/catkin_ws/devel/setup.bash
   

4. Inside move_base.launch, modify the section that sets the base_local_planner parameter, which specifies the local planner to be used. Also change the local_planner_parameters to the path of mpc_local_planner.yaml (you can rename the yaml file).

   # inside move_base.launch
   <arg name="base_local_planner" default="mpc_local_planner/MpcLocalPlanner" />
   <rosparam file="path to mpc_local_planner.yaml" command="load" />
   

On your computer

TODO