amakarow

Hi, you can add your dynamics smilar to this example: https://github.com/rst-tu-dortmund/mpc_local_planner/blob/master/mpc_local_planner/include/mpc_local_planner/systems/kinematic_bicycle_model.h Just overwrite `getStateDimension()` to return four. Add one simple integrator component to the state space model such that the...

The viapoint feature should work similiar, but we have not tested it extensevely. The global plan from the navigation stack is just the sequence of 2.5D way points without any...

Many thanks for the pointer. Regarding your latency issue there is already a compensator respectively a predictor in our control toolbox. Please, check out the following code snippet: https://github.com/rst-tu-dortmund/control_box_rst/blob/master/src/tasks/src/task_closed_loop_control.cpp#L129-L249 In...

Thanks for this backport, I just checked the code and saw you pushed the mpc_local_planner_ros header and source file into the meta package folder/root folder. Is this intended? What is...

Hey, thank you for your contribution. It really makes sense to include the orientation into the pruning scheme. Just thinking about the following scenario: You have a noisy measurement with...

I mean, assume dt_ref = 0.3 but the actual closed-loop sampling time is 0.05, then you would likely get index == 0 for small speeds because the L2 norm could...

The positive side effects are clearly nice. However, as you already pointed out, I am still not hundert percent sure if we should really move the robot model to the...

Sounds good, hope to get some time to test it.

This is awesome, thanks a lot. We will test this soon.

Have you experienced any overhead when using your wrapper for std::sin and std::cos compared to the plain implementation?