zhuyeyiyi/rvb_mpc

A Robust Vision-Based Model Predictive Control Package

This software has been tested using Ubuntu 18.04 and Ros Melodic.

Prerequisite: ACADO toolkit

git clone https://github.com/acado/acado.git -b stable ACADOtoolkit
cd ACADOtoolkit
mkdir build
cd build
cmake ..
make
sudo make install
echo "source <PATH_TO_ACADO_ROOT>/ACADOtoolkit/build/acado_env.sh" >> ~/.bashrc

where <ACADO_ROOT> is the absolute patg to the ACADOtoolkit folder.

Installation

sudo apt-get install libyaml-cpp-dev libglfw3-dev python-catkin-tools ros-melodic-octomap-ros libgoogle-glog-dev libglew-dev libglm-dev
## Creating the workspace 
mkdir -p ~/rvb_mpc_ws/src
cd ~/rvb_mpc_ws/
catkin_init_workspace
cd src/ 
git clone https://github.com/cirpote/rvb_mpc && cd rvb_mpc
sh clone_dependencies.sh
catkin_build

Usage

roslaunch rvb_mpc random_flight.launch

args:

• gui: Activate the GAZEBO gui (default = false)
• random_spawn_dyn_obj: Activate the random dynamic object spawing along the planned traj (default = false)
• random_waypoint_generation: Activate the random waypoint generation (default = false)

Example:

roslaunch rvb_mpc random_flight.launch gui:=true