virat_controller

Package for Clueless Virat's controller

Dependancies

• package : virat_msgs

• package : mpc_lib

• c++ libraries : eigen, ipopt, cppad

  • Installation instructions for these libraries are given in the mpc_lib package readme.

MPC model workflow

• state_estimator node

This node is to be launched before launching main controller node.

Upon launch, state_estimator takes robot state params from /virat/odom topic, processes it and publishes the relavant data in /virat/controller/input topic.

roslaunch virat_controller controller_init.launch

• virat_controller

This is the main controller node.

This node subscribes to both /virat/controller/input and path topic (either from the path planning module or other fake nodes), time syncs them and feedes them into a single callback. The callback method then passes the data into a mpc model and pubilshes the optimum actuator variables in /virat/cmd_vel topic.

roslaunch virat_controller controller_bringup.launch