maxspahn / maxspahn/mobile_mpc
Change the mobile manipulator
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- Dominant language
- MATLAB
- Stars
- 12
- Forks
- 1
- PR merge metrics
- No merged PRs in 30d
Description
If I want to change the robot to which the MPC is applied what needs to be changed? Lets say it is still a differential drive robot with a 7 DOF. Do I only need to change the differential model parameters? A variable to access the robot model? I assume I need to change the MPC formulation before forces pro compilation and in the ros code.
Thank you in advance for the help.
Contributor guide
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
No files, tests, or entry points are named. Start by locating the differential-drive model parameters, MPC formulation, force compilation, and ROS code, then trace how the robot model is selected. Done would require a defined and validated process for adapting the MPC to another 7-DOF differential-drive robot.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- matlab
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 20/100