Skip to content

Latest commit

 

History

History
37 lines (27 loc) · 1.43 KB

README.md

File metadata and controls

37 lines (27 loc) · 1.43 KB
Raw

Setting up the controller

Installation steps:

  1. The mpc_controller package requires acados. To install it, run the following script:
$ ./install_prerequisites.sh  [installation_path]
  • It is recommended to not alter the default installation path, which is home/acados.
  • If an installation path is provided, the CMake and Make files in the c_generated_code folders must be changed accordingly.

  1. If an installation path is provided, update the ACADOS_INSTALL_DIR in the launch/wbc.launch.

  2. Build the package

$ catkin build mpc_controller
  1. To check that acados runs as expected, after sourcing the ws run:
roslaunch mpc_controller test.launch

The node should solve an MPC problem for one iteration and output the solution results.

Run the whole body controller:

After sourcing the ws

roslaunch mpc_controller wbc.launch

Run different scenarios:

The simulated scenarios can be changed by tweaking the config file controller_params.yaml

  • controller_mode changes the degree of freedom for the reorientation maneuver. It must be the same as the base_joint_type in olympus_param.yaml.
  • stabilization_mode If set to true, the attitude controller tracks reference orientations. Otherwise, it tracks the torque specified at manoeuvre_target_torque