[FEATURE]: Implement a nonlinear velocity MPC algorithm

[rakeshv24]

Feature Type

Adding new functionality to the project

Problem Description

A common type of low-level controller for AUVs/ROVs is nonlinear model predictive control (NPMC). Providing support for it would be beneficial, as it requires minimal tuning and can generate optimal control actions while accommodating nonlinearities.

Feature Description

Implement NMPC as a ros2_controller.

Alternative Solutions

N/A

Additional Context

Planning to use acados and casadi for the implementation.

[evan-palmer]

Very cool! I'm excited to see this implemented.