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base_mpc

navigation for AirLab

Overview

Installation

We provide detailed installation instructions here.

Generate MPC solver

We currently use ForcesPro, a fast and realiable numerical solver for mathematical optimization problems. For academic use the license is for free. More information on the installation of ForcesPro can be found here.

After getting the license and setting up ForcesPro follow the steps below to generate the MPC solver.

      cd base_mpc/python_solver_generation
      poetry install
      poetry shell
      python base_mpc_solver.py

Tipp: see output for information on which parameter corresponds to which variable

This generates a folder named 'AlbertFORCESNLPsolver' in python_solver_generation.

[ToDo: Extension for Acados]

Test in Simulation

roslaunch albert_gazebo albert_gazebo_navigation.launch panda_control_mode:=velocity localization:=amcl world:=AH_store-2