/forces_pro_server

Primary LanguageC++

This repository contains a small node to run a Forces Pro solver inside a ROS2 service. This service can be used to program an MPC in ROS2 python that Forces Pro does not support.

Usage

To adapt the service node to your example:

  • Put your solver in solver/<your_solver>ForcesNLPsolver.
  • In CMakelists.txt change set(SYSTEM_TO_USE "Jackal") to set(SYSTEM_TO_USE "<your_solver>").
  • In include/solver_service_node.h replace (ctrl+h) JackalFORCESNLPsolver with <your_solver>ForcesNLPsolver, same in src/solver_service_node.h.

The example of how to call the service in Python is in src/example_call.py.

Note: Only the first 6 outputs are now loaded in the service (solver_service_node.cpp) because the forces outputs depend on the solver horizon. You can change it for your application.

Testing

In one terminal

ros2 launch forces_pro_server launch_server.launch.xml

In a second terminal

python3 src/example_call.py

Zero outputs should be received (the test configures all inputs as zero).