ROS2 controller plugin using python

[Lijdawit]

I have already built an MPC(model predictive controller) using Casadi in Python. It works independently and I want to integrate it with the ROS2 navigation stack. How can I generate code from Python? How can I integrate it with the ros2 navigation stack ?

[rzegers]

Hello @Lijdawit,

I am afraid that at the moment there is no direct way to implement a controller plugin for Nav2 using python. If porting your code to C++ is viable to you, then I can recommend the following tutorial:

https://navigation.ros.org/plugin_tutorials/docs/writing_new_nav2controller_plugin.html

Hope this helps,

Roberto