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0.4.0
Additional functionality to make mpc_controller_node more robust and generally usable: - General cleanup (organization, build scripts, noexcept, visiblity control) - Handle trajectories with sample periods not exactly as expected - Handle heading singularity (i.e. going from -PI to PI) - Error handling in node - Diagnostics in node
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0.3.0 Release: 0.3.0
MpcController now has a node which can be used by a ROS2 system. The following new features were implemented: - Integration with autoware_auto_msgs - `time_utils` for conversion to/from message time - Integration test spoofer for controllers; publishes trajectories, transforms, and states - ControllerBaseNode - MpcControllerNode
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0.1.0
ament_acado minimally works, supporting qpOASES backend.