Integration of TrajOpt into ROS
trajopt_ros implements sequential convex optimization to solve the motion planning problem.
It implements a penalty method to optimize for joint velocities while satisfying a set of constraints.
Internally, it makes use of convex solvers that are able to solve linearly constrained quadratic problems.
At the moment, the following solvers are supported:
BPMPD(interior point method, free for non-commercial use only)Gurobi(simplex and interior point/parallel barrier, license required)OSQP(ADMM, BSD2 license)qpOASES(active set, LGPL 2.1 license)
While the BPMPD library is bundled in the distribution, Gurobi, OSQP and qpOASES need to be installed in the system.
To compile with Gurobi support, a GUROBI_HOME variable needs to be defined.
Once trajopt_ros is compiled with support for a specific solver, you can select it by properly setting the TRAJOPT_CONVEX_SOLVER environment variable. Possible values are GUROBI, BPMPD, OSQP, QPOASES, AUTO_SOLVER.
The selection to AUTO_SOLVER is the default and automatically picks the best between the available solvers.
cd gh_pages
sphinx-build . output
Now open gh_pages/output/index.rst and remove output directory before commiting changes.