├── .github └── workflows │ └── main.yml ├── .gitignore ├── LICENSE ├── README.md ├── docs ├── dingosimulator.gif └── jackalsimulator.gif ├── mpc_planner ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── include │ └── mpc_planner │ │ ├── data_preparation.h │ │ ├── experiment_util.h │ │ └── planner.h ├── package.xml ├── package1.xml ├── package2.xml └── src │ ├── data_preparation.cpp │ ├── experiment_util.cpp │ └── planner.cpp ├── mpc_planner_dingo ├── CATKIN_IGNORE ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── COLCON_IGNORE ├── README.md ├── config │ ├── guidance_planner.yaml │ └── settings.yaml ├── include │ └── mpc_planner_dingo │ │ ├── ros1_planner.h │ │ └── ros2_planner.h ├── launch │ ├── ros1.launch │ ├── ros1_sim.launch │ └── ros2_simulator.launch ├── package.xml ├── package1.xml ├── package2.xml ├── rviz │ ├── ros1.rviz │ └── ros2.rviz ├── scripts │ └── generate_dingo_solver.py └── src │ ├── ros1_planner.cpp │ └── ros2_planner.cpp ├── mpc_planner_jackal ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── README.md ├── config │ ├── guidance_planner.yaml │ ├── obstacles.yaml │ └── settings.yaml ├── include │ └── mpc_planner_jackal │ │ ├── ros1_jackal.h │ │ └── ros2_planner.h ├── launch │ └── ros1_jackal.launch ├── package.xml ├── package1.xml ├── package2.xml ├── rviz │ ├── ros1.rviz │ └── ros2.rviz ├── scripts │ └── generate_jackal_solver.py └── src │ ├── ros1_jackal.cpp │ └── ros2_planner.cpp ├── mpc_planner_jackalsimulator ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── README.md ├── config │ ├── guidance_planner.yaml │ ├── ros2_guidance_planner.yaml │ └── settings.yaml ├── docs │ └── duration_with_baseline.png ├── include │ └── mpc_planner_jackalsimulator │ │ ├── ros1_jackalsimulator.h │ │ └── ros2_jackalsimulator.h ├── launch │ ├── ros1_jackalsimulator.launch │ └── ros2_jackalsimulator.launch ├── package.xml ├── package1.xml ├── package2.xml ├── rviz │ ├── hsignature.rviz │ ├── prm.rviz │ ├── ros1.rviz │ ├── ros1_2dcamera.rviz │ ├── ros1_3d.rviz │ └── ros2.rviz ├── scripts │ └── generate_jackalsimulator_solver.py └── src │ ├── ros1_jackalsimulator.cpp │ └── ros2_jackalsimulator.cpp ├── mpc_planner_modules ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── include │ └── mpc_planner_modules │ │ ├── contouring.h │ │ ├── contouring_constraints.h │ │ ├── controller_module.h │ │ ├── curvature_aware_contouring.h │ │ ├── decomp_constraints.h │ │ ├── ellipsoid_constraints.h │ │ ├── gaussian_constraints.h │ │ ├── goal_module.h │ │ ├── guidance_constraints.h │ │ ├── linearized_constraints.h │ │ ├── mpc_base.h │ │ ├── path_reference_velocity.h │ │ └── scenario_constraints.h ├── package.xml ├── package1.xml ├── package2.xml ├── scripts │ ├── contouring.py │ ├── contouring_constraints.py │ ├── curvature_aware_contouring.py │ ├── decomp_constraints.py │ ├── ellipsoid_constraints.py │ ├── gaussian_constraints.py │ ├── goal_module.py │ ├── guidance_constraints.py │ ├── linearized_constraints.py │ ├── mpc_base.py │ ├── path_reference_velocity.py │ └── scenario_constraints.py └── src │ ├── contouring.cpp │ ├── contouring_constraints.cpp │ ├── curvature_aware_contouring.cpp │ ├── decomp_constraints.cpp │ ├── ellipsoid_constraints.cpp │ ├── gaussian_constraints.cpp │ ├── goal_module.cpp │ ├── guidance_constraints.cpp │ ├── linearized_constraints.cpp │ ├── mpc_base.cpp │ ├── path_reference_velocity.cpp │ └── scenario_constraints.cpp ├── mpc_planner_msgs ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── msg │ ├── Gaussian.msg │ ├── ObstacleArray.msg │ └── ObstacleGMM.msg ├── package.xml ├── package1.xml └── package2.xml ├── mpc_planner_rosnavigation ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── README.md ├── config │ ├── costmap_common_params.yaml │ ├── guidance_planner.yaml │ ├── odom_nav_params │ │ ├── global_costmap_params.yaml │ │ └── local_costmap_params.yaml │ ├── ros2_guidance_planner.yaml │ └── settings.yaml ├── include │ └── mpc_planner_rosnavigation │ │ └── ros1_rosnavigation.h ├── launch │ ├── odom_navigation_demo.launch │ └── ros1_rosnavigation.launch ├── mpc_planner_rosnavigation_plugin.xml ├── package.xml ├── package1.xml ├── package2.xml ├── rviz │ ├── ros1.rviz │ └── ros1_3d.rviz ├── scripts │ ├── generate_rosnavigation_solver.py │ └── goal_publisher.py ├── src │ └── ros1_rosnavigation.cpp └── worlds │ └── test.world ├── mpc_planner_solver ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── include │ └── mpc_planner_solver │ │ ├── acados_solver_interface.h │ │ ├── forces_solver_interface.h │ │ ├── solver_interface.h │ │ └── state.h ├── package.xml ├── package1.xml ├── package2.xml ├── src │ ├── acados_solver_interface.cpp │ ├── forces_solver_interface.cpp │ └── state.cpp └── test │ └── test_solver.cpp ├── mpc_planner_types ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── include │ └── mpc_planner_types │ │ ├── data_types.h │ │ ├── module_data.h │ │ └── realtime_data.h ├── package.xml ├── package1.xml ├── package2.xml └── src │ ├── data_types.cpp │ └── module_data.cpp ├── mpc_planner_util ├── CMakeLists.txt ├── CMakeLists1.txt ├── CMakeLists2.txt ├── include │ └── mpc_planner_util │ │ ├── data_visualization.h │ │ ├── load_yaml.hpp │ │ └── parameters.h ├── package.xml ├── package1.xml ├── package2.xml └── src │ └── data_visualization.cpp ├── pyproject.toml ├── requirements.txt ├── select_system.py ├── solver_generator ├── control_modules.py ├── generate_acados_solver.py ├── generate_cpp_files.py ├── generate_forces_solver.py ├── generate_solver.py ├── solver_definition.py ├── solver_model.py ├── spline.py ├── test │ ├── .coveragerc │ ├── test_acados.py │ ├── test_base_classes.py │ └── test_control_modules.py └── util │ ├── code_generation.py │ ├── convertion.py │ ├── files.py │ ├── logging.py │ ├── math.py │ ├── parameters.py │ └── realtime_parameters.py └── switch_to_ros.py /.github/workflows/main.yml: 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