qr_mpc

This work implements a NMPC controller for a quadcopter with ROS.

Prerequisites

• Python 3.7
• ROS (ROS noetic recommended)
• QGroundControl
• MAVROS
• Acados

Getting started

Install python 3.7

sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt update
sudo apt install python3.7

Install python dependencies

python3 -m pip install pip
sudo pip3 install numpy matplotlib scipy future-fstrings casadi>=3.5.1 setuptools
sudo apt-get install python3.7-tk

Install Acados

git clone https://github.com/acados/acados.git
cd acados
git checkout 568e46c
git submodule update --recursive --init
mkdir -p build
cd build
cmake -DACADOS_WITH_QPOASES=ON -DACADOS_WITH_OSQP=OFF/ON -DACADOS_INSTALL_DIR=<path_to_acados_installation_folder> ..
sudo make install -j4

Create a catkin workspace and clone this repository to catkin src folder (ex. ~/catkin_ws/src)

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
cd src
git clone https://github.com/HKPolyU-UAV/qr_mpc.git

Install acados_template python packages

pip install -e <acados_root>/interfaces/acados_template

Add the path to the compiled shared libraries (Hint: you can add these lines to your .bashrc by sudo gedit ~/.bashrc)

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"<acados_root>/lib"
export ACADOS_SOURCE_DIR="<acados_root>"

Modify <acados_root> path (18th and 19th lines) in CMakeLists

cd ~/catkin_ws/src/qr_mpc/
gedit CMakeLists.txt

Generate C code for NMPC controller

cd scripts
python3 generate_c_code.py

Compile

cd ~/catkin_ws/
catkin_make

Download and install the PX4 (1.11.0)

cd ~
git clone https://github.com/PX4/PX4-Autopilot.git
cd PX4-Autopilot/
git checkout 71db090
git submodule sync --recursive
git submodule update --init --recursive
bash ./Tools/setup/ubuntu.sh
sudo apt upgrade libignition-math4 #(libignition-math2 for melodic)

Running

Start PX4 SITL

cd ~/PX4-Autopilot/
make px4_sitl_default gazebo

Run MAVROS

cd ~/catkin_ws/
roslaunch qr_mpc px4_gazebo.launch

Open QGroundControl to takoff

Run NMPC controller (there are three preset trajectories in this repo: circle, lemniscate and waypoints, circle is used as example)

roslaunch qr_mpc circle.launch

Set flight mode to "offboard" in QGroundControl