This is not official package for navigation2

Nav2_MPC_Controller Plugin

This is ros2 package and plugin for controller interface of Navigation2.You can use this plugin with controller server of navigation2 without any special implementation.

Installation

Follow the official documentation below to install. Requires Navigation2 and ROS2 (Default Foxy) installation.

How to use

This is an implementation of the plugin defined by Nav2.
bringup package of Navigation2 package is a basic execution example. There are two main settings to run this plug-in.

• Dependency Settings on package.xml
  Register this repository(pakcage).

"in package.xml"
...
<exec_depend>nav2_mpc_controller</exec_depend>
...

• Loading Params on .py from launch files Load params .yaml file inclued this plugin configuration.

"in tb3_simulation_with_mpc_launch.py"
...
    declare_params_file_cmd = DeclareLaunchArgument(
        'params_file',
        default_value=os.path.join(bringup_dir, 'params', 'nav2_mpc_params.yaml'),
        description='Full path to the ROS2 parameters file to use for all launched nodes') 
...

Need to create new param file like nav2_mpc_params.yaml. It should include the configuration for this plugin like below.

...
    FollowPath:
      plugin: "nav2_mpc_controller::MPCController"
...