基于ROS实现多差速无人车编队控制
除了需要安装ros环境外，还需要安装eigen、casadi数学运算库
git clone https://github.com/quyinsong/multi_diffcar_ws.git
cd multi_diffcar_ws
catkin_make
source devel/setup.bash
运行多机器人仿真环境（gazebo与rviz）：roslaunch mydiffcar_gazebo multi_diffcar_gazebo.launch
运行编队控制器：roslaunch nmpc_ctr test_formation.launch