QP-based MPC for Differential-Drive Mobile Robot Project

ROS version : ROS melodic

RBDL requires ccmake to build successfully

sudo apt install cmake-curse-gui

git clone https://github.com/rbdl/rbdl
cd rbdl
mkdir build
cd build
ccmake ..

Check the properties of ccmake below

CMAKE_BUILD_TYPE=Release -DRBDL_BUILD_ADDON_URDFREADER=ON -DRBDL_USR_ROS_URDF_LIBRARY=OFF

make all
make install

git clone https://github.com/coin-or/qpOASES.git
cd qpOASES
mkdir build
cd build
cmake ..
make all
make install