Our version of osqp_embedded is not yet public.
This is all of the code for the barriers. This is not yet public.
Important: Modify manual_teleop launch files with your keyboard input device (/dev/input/event*). Find this using
cat /proc/bus/input/devices
Then search for your input device.
Launch main.launch for the single agent case, or two_drones.launch for the multi-agent case (the launch file for the example in the paper).