acados_solver_ros2_examples

Example application for the acados_solver_ros2 package.

Credits: the simulated robot is adapted from the tutorial package ros2_control_demos.

For more information, please check the demo section of the documentation of acados_driver_ros2.

Installation

1. Install dependencies

source /opt/ros/humble/setup.bash

mkdir ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/ICube-Robotics/acados_solver_ros2_examples.git
vcs import . < acados_solver_ros2_examples/acados_solver_ros2_examples.repos
rosdep install --ignore-src --from-paths . -y -r

2. Build and install ros2 packages

cd ~/ros2_ws/
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
# N.B., build a second time to export the acados_template python package
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install

3. Export and build the Acados solver plugins

cd ~/ros2_ws/
source install/setup.bash

cd src/acados_solver_ros2_examples
echo "y" | python3 ./example_acados_controller/script/export_acados_solver_plugin.py
cd ../..

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install

4. Launch demo

cd ~/ros2_ws/
source install/setup.bash

ros2 launch example_acados_bringup launch_demo.launch.py

Contacts

ICube Laboratory, University of Strasbourg, France

Thibault Poignonec: tpoignonec@unistra.fr, @github: tpoignonec