Model Predictive Control - How to implement?

Type of course:

Digital learning, Lesson

Language:

Duration:

15 minutes

Workload:

2 hours

Proficiency:

Advanced

Target:

Professionals, Students

This nugget describes how the Model Predictive Control algorithm can be used as a plugin in the Navigation2 stack of ROS2. Requirements are that the turtlebot robot or an equivalent simulation (e.g. in Gazebo) is runnable, the Navigation2 stack works and a local workspace is running.

Learning outcomes

The learner is able to incorporate and build customized packages in the local ROS workspace.
The learner can configure the navigation stack with customized parameter files.
The learner can incorporate and make the MPC packages callable from the navigation stack.