MuXingchui

> Figured out my issue. Installed IPOPT with both apt-get and from source. It is now working for me on noetic. Just want to clarify, installing both was the issue....

> Pretty sure `sudo apt-get remove —purge ` will work. Thank you!

 Can someone tell me why there is such an error when I run the example? And how to fix it.

> When you compile from source, you need to also get the (I think) optional MUMPS solver. Sorry it has been a year since I did this. Got it. I...

>  Can someone tell me why there is such an error when I run the example? And how to fix it. I fixed the issue. Thanks to @ElClopitan ....

> See the cost implementations in https://github.com/rst-tu-dortmund/mpc_local_planner/tree/master/mpc_local_planner/include/mpc_local_planner/optimal_control They subclass corbo::StageCost mostly by implementing computeXXXTerm() cost terms Hello, I am also a new to this and I got a little confused...