[Control] Add Nonlinear Model Predictive Controller for all robots #571
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…d by Acados Python Interface automatically.
…MPCSolver::reset()
…tructor, so I have to move parameters to initialize()
…ler. Compiled. No testing.
… compiling, but the system crashes during running.
…ce. Still bugs in solveOCPInLoop
…date mini_quadrotor parameters; generate acados C code again!
…ediction for NMPC
…ller. Try bringup_nmpc.launch if want to use NMPC
…flict in the eigen library
…factor from MPCController to NMPCController; use LQI attitude controller; takeoff and land successfully!
…shift all values forward and add the target point at the end
…by using external project
[Aerial Robot Control][MPC] deploy ACADOS automatically in catkin workspace
…mmit is tested in the real world.
…mpc file. Now nmpc_controller can be used independent with lqi controller file. Tested in sim.
…ontrol/nmpc folder
…te == true, the body_rate cmd will be set as target_ang_vel and hence becomes the feedforward term. Note that I change the sign of d term in control_feedback_state_msg_ to be compatible with p and i.
…d attitude + body rate is better
…that leverages 4 thrusts as input
…ng for implementing multiple kinds of nmpc
…hovering in simulation! Only body_rate controller in Spinal should be used. The use of attitude controller in Spinal cannot guarantee the convergence of yaw angle.
…nd ft1, ft2, ft3, ft4 in base_thrust to Spinal. Better performance than pure body_rate controller.
…eate files for base solver and controller, not implemented.
… why body_rate controller is incorrect, cannot take off, very weird.
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What is this
Try to implement Nonlinear Model Predictive Controller for all robots
TODO
If there is still some work to do. Please list up as follows:
Video
Milestone 1: position control for a under actuated aerial robot. The yaw control problem in this video has been fixed.
nmpc_mini_qd-2023-11-04_19.05.07.mp4