This is the branch for ROS2; use the ros1 branch for ROS1.

NMPC

Non-linear model predictive control (NMPC) library

This repository provides ROS2 packages for the following NMPC methods

nmpc_ddp

NMPC with differential dynamic drogramming (DDP)

nmpc_fmpc

FMPC: Fast NMPC combining the direct multiple shooting (DMS) method, the primal-dual interior point (PDIP) method, and Riccati recursion (RR)

nmpc_cgmres

NMPC with continuation/GMRES method (C/GMRES)