Simple ros2 vendor for Acados.
mkdir ros2_ws/src
cd ros2_ws/src
git clone https://github.com/ICube-Robotics/acados_vendor_ros2.git
# Download the source and install the c interface (lib "acados")
cd ..
rosdep install --ignore-src --from-paths . -y -r
colcon build
NOTE: If the
ament_cmake_vendor_package
is missing, you can install it manually:
sudo apt install ros-<ROS_DISTRO>-ament-cmake-vendor-package
package.xml
:
...
<depend>acados_vendor_ros2</depend>
...
CMakeLists.txt
:
...
find_package(acados_vendor_ros2)
...
ament_target_dependencies(<the_target> PUBLIC acados_vendor_ros2)
...
xxx.cpp
:
#include "acados_c/ocp_nlp_interface.h"
...
ocp_nlp_plan_t* plan_ptr = ocp_nlp_plan_create(N);
...
package.xml
:
...
<depend>acados_vendor_ros2</depend>
...
setup.py
: Nothing special.
XXX.py
:
from acados_template import AcadosModel, AcadosOcp
...
model = AcadosModel()
...