/crane_x7_mpc_ros2

Primary LanguageC++

CRANE_X7_MPC_ROS2

This is an example implementation of MPC for a robot manipulator using robotoc with ROS2.

CAUTION: This repo is under development

Build and run an example with Docker:

docker build -t crane_x7_mpc_ros2 .
docker run -p 6080:80 --shm-size=512m crane_x7_mpc_ros2

You can see the gui from a web browser (VNC)

http://127.0.0.1:6080/

and run the gazebo simulation on the VNC

. /opt/ros/foxy/setup.sh
. /home/ros2_ws/install/setup.sh
ros2 launch crane_x7_gazebo crane_x7_gazebo.launch.py gui:=true