Installation

Build from Source

In case you want to build mpc_local_planner from source, make sure to install the dependencies first. You might try to install dependencies using

rosdep install mpc_local_planner

The most crucial dependency is the control_box_rst package. It is either available via sudo apt install ros-DISTRO-control-box-rst or you need to build and install it from source following this guide.

The current package version also depends on the teb_local_planner package.

Afterward, clone and compile the mpc_local_planner package as every other ROS package.

Install from the official Repos

If the mpc_local_planner is already released for your distribution, just invoke

sudo apt install ros-DISTRO-mpc_local_planner