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]

• If no installation path is provided, acados will be installed in home/acados.

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

3. Build the package

$ catkin build mpc_controller

4. To check that acados runs as expected, after sourcing the ws run:

roslaunch mpc_controller mpc.launch

Run the whole body controller:

After sourcing the ws

roslaunch mpc_controller wbc.launch