A MPC for diablo configuration(see as differential car). If you want to use the code, you should install OSQP, osqp-eigen andserial first, and can following steps:

cd test_mpc
catkin_make
source devel/setup.bash
roslaunch mpc test_mpc.launch

See in markdown_file

• Models are just for forward tracking, but we can track backward by inversing the model. Besides, the algorithm will choose a better way to track the path.
• When prediction, we don't choose just one point to linearize the model, that isn't precise enough.
• MPC will run iteratively until converge or at max loops.
• 100Hz with 100 predict steps is recommanded for consideration of effect and efficiency.