ROS Noetic crash on receiving nav goal

[ElClopitan]

I am using a polygon model and whenever I send a navGoal, it crashes. I am using the mpc_local_planner_params_quadratic_form.yaml file for my robot and when I keep it as a point model, it doesn't crash. It only crashes once I switch to a polygon model. Any idea what I am doing wrong?

[ElClopitan]

carlike_minimum_time.launch
This example launch file also crashes when I give it a nav goal with two_circles, line, and polygon for the footprint_model type but not with point and circular (but it does perform poorly for circular). Is there a chance I just downloaded something wrong?

[Marxvans]

It had crash before i lauch the carlinke_minimum_time.launch in ros noetic.

[kinekt2000]

@ElClopitan, @Marxvans

Use package from noetic-devel branch. Not noetic distro.

1. Clone branch git clone --branch noetic-devel https://github.com/rst-tu-dortmund/mpc_local_planner.git
2. Move 'mpc_local_planner' and 'mpc_local_planner_msgs' to your workspace
3. Run catkin_make from your workspace.
4. Use MPC as any other plugin base_local_planner: "mpc_local_planner/MpcLocalPlannerROS

If you want just run the example, clone branch to src and run catkin_make, after all run source ./devel/setup.bash and appropriate roslaunch <example>.launch

This is not the best solution, but it works well for me.