acados_vendor_ros2

Simple ros2 vendor for Acados.

Installation

mkdir ros2_ws/src
cd ros2_ws/src
git clone https://github.com/ICube-Robotics/acados_vendor_ros2.git

# Download the source and install the c interface (lib "acados")
cd ..
rosdep install --ignore-src --from-paths . -y -r
colcon build && colcon build

Note that colcon build is called twice.

N.B., this is necessary because ament_vendor(...) takes effect after the ament_python_install_package(...) command. However, the later tests for the existence of an __init__.py file in the path, hence resulting in an error since the Python package is not yet present.

TODO: Allow unique build to avoid potential downstream build tests failures.

NOTE: If the ament_cmake_vendor_package is missing, you can install it manually:

sudo apt install ros-<ROS_DISTRO>-ament-cmake-vendor-package

Usage

For a C++ project

package.xml :

...
<depend>acados_vendor_ros2</depend>
...

CMakeLists.txt :

...
find_package(acados_vendor_ros2)
...
ament_target_dependencies(<the_target> PUBLIC acados_vendor_ros2)
...

xxx.cpp :

#include "acados_c/ocp_nlp_interface.h"
...
ocp_nlp_plan_t* plan_ptr = ocp_nlp_plan_create(N);
...

For a Python project

package.xml :

...
<depend>acados_vendor_ros2</depend>
...

setup.py : Nothing special.

XXX.py :

from acados_template import AcadosModel, AcadosOcp
...
model = AcadosModel()
...