acados_solver_ros2

About

Helper packages to use the Acados solver for non-linear optimization in ROS2 applications. The goal is to prototype NMPC solvers in Python and to seamlessly use them in C++ ROS2 applications (i.e., ros2-control controllers).

To date, the stack includes:

• acados_solver_base: a wrapper C++ class for Acados solvers;
• acados_solver_plugins: a templated interface between the wrapper and Acados auto-generated C-code. A minimalistic Python library provides simple generation of C++ solver plugins from Python Acados models;
• acados_solver_plugins_example: a package to be used as a demo and as a template when starting a project using the acados solvers.

For more information, please check the documentation.

Installation

source /opt/ros/humble/setup.bash

mkdir ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/ICube-Robotics/acados_solver_ros2.git
vcs import . < acados_solver_ros2/acados_solver_ros2.repos
rosdep install --ignore-src --from-paths . -y -r

pip install future-fstrings  # Python retro-compatibility

cd ..
colcon build && colcon build
source install/setup.bash

[!NOTE] If you are using ros jazzy or later, you might have to use a virtual environment or the PIP_BREAK_SYSTEM_PACKAGES flag.

Otherwise, you might get the following error:

ERROR: the following rosdeps failed to install
  pip:
rosdep installation of pip packages requires installing packages globally as root.
When using Python >= 3.11, PEP 668 compliance requires you to allow pip to install alongside
externally managed packages using the 'break-system-packages' option.
The recommended way to set this option when using rosdep is to set the environment variable
PIP_BREAK_SYSTEM_PACKAGES=1 in your environment.

Contacts

ICube Laboratory, University of Strasbourg, France

Thibault Poignonec: tpoignonec@unistra.fr, @github: tpoignonec