This is a basic implementation of a model predictive control path planner in C++ using the CppAD and Ipopt libraries.
It uses ROS to communicate the position and velocity data from and to a turtlesim node.
You will need termcolor header-only library for colored terminal output (you can clone it from Termcolor's GitHub repository). Make sure the header file is in your include path.
Use catkin_make to build the node.
To run the program, first run the main.launch file, and then in a separate terminal run the path_planner node. You can control the obstacle turtle using teleop_key from the first terminal. The second terminal will be the user interface for publishing the destinations.