ProxMPC
- Software
- Navigation and mapping
- Library
A nonlinear model predictive controller for ROS 2 that solves optimal control with an SQP scheme over ProxQP, packaged as a reusable core and a Nav2 controller plugin.
Source on GitHub: github.com/simone-contorno/prox_mpc (opens in a new tab). Facts read at commit 2ba5862 (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 2ba5862 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Solves the nonlinear optimal-control problem by repeatedly building and solving a quadratic program with the ProxQP solver, using Eigen.
- Handles linear models as a special case, where the SQP converges in a single QP solve.
- Ships as a Nav2 controller plugin, benchmarked against the stock Nav2 local controllers in simulation on a kinematic plant.
- Includes an optional in-house 2D-lidar dynamic-obstacle detector and IMM tracker that feeds predictive obstacle avoidance.
- Provides a benchmarking harness that measures accuracy, precision, and real-time behaviour across scenarios and controllers.
Written by Robotheca from the project's README (opens in a new tab) at commit 2ba5862.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 15 Sept 2026 on main
- Latest release
- 2.0.0 (15 Sept 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.