kh-ryu / turtlebot-mpc

me561-unicycle-mpc

This is a ROS repo intended to develop a MPC controller for the turtlebot.

Building / Installation

Dependenies

This library requires ROS and CVXPY Note: to install CVXPY, if you get an error about user permissions, execute

    pip install cvxpy --user

Building

The recommended way to build/install this library is with Catkin tools.

Clone this repo into a src folder and build with catkin tools:

mkdir -p ~/catkin_ws/me561-unicycle-mpc/
cd ~/catkin_ws/me561-unicycle-mpc/
git clone --recursive https://github.com/tsender/me561-unicycle-mpc.git src
catkin init
catkin build

Post Setup

Add these lines to the end of your ~/.bashrc file:

source ~/catkin_ws/me561-unicycle-mpc/devel/setup.bash
export TURTLEBOT3_MODEL=burger

Don't forget to source your ~/.bashrc file for the changes to take effect.

Running the Code

In one terminal, do

roslaunch turtlebot_mpc turtlebot_mpc.launch

In another, do

rosrun rqt_gui rqt_gui

In rqt_gui, publich a Bool message only ONCE on topic /go_turtlebot_go with a value of True, and then the robot will start moving