ROS Wrapper for the Piecewise Polynomial Path Planner (P4)

See https://github.com/TuckerHaydon/P4/tree/master for a documentation on P4.

This repository also integrates the Minimum-Time Path Planner from https://github.com/HKUST-Aerial-Robotics/TimeOptimizer:

@inproceedings{Fei2018IROS,
    Address = {Madrid, Spain},
    Author = {F. Gao and W.Wu and J. Pan and B. Zhou and S. Shen},
    Booktitle = {Optimal Time Allocation for Quadrotor Trajectory Generation},
    Title = {Proc. of the {IEEE/RSJ} Intl. Conf. on Intell. Robots and Syst.({IROS})},
    Month = Oct,
    Year = {2018}}
}

Installation instructions

We assume that you have already installed ROS and that you have set a catkin workspace already. Then, you need to install the dependencies for using P4 and TimeOptimizer.

• P4 dependencies:

1. Install Eigen
2. Install gnuplot and boost

sudo apt install libboost-all-dev gnuplot

3. Install OSQP

If the installation instructions from OSQP's website are not working properly, follow the guidelines below:

git clone https://github.com/oxfordcontrol/osqp
cd osqp
git checkout release-0.5.0
git submodule update --init --recursive
mkdir build
cd build
cmake -G "Unix Makefiles" ..
cmake --build .
sudo cmake --build . --target install

• TimeOptimizer dependencies:

1. Get a Mosek license. Follow the instructions in here if you want an academic license.

2. Make ECOS

git clone https://github.com/marcelino-pensa/ecos.git
cd ecos
make

ECOS will produce two static library files that you will need subsequently: libecos.a and external/ldl/libldl.a.

• Install p4_ros:

cd ~/catkin_ws/src
git clone --recursive https://github.com/AkellaSummerResearch/p4_ros.git

Copy libecos.a and external/ldl/libldl.a into the folder ~/catkin_ws/src/p4_ros/TimeOptimizer/time_optimizer/third_party/lib/ecos.

cd ~/catkin_ws
catkin_make

Execute an example

You will need two terminals. In the first you will start the motion-planning server:

roslaunch p4_ros launch_services.launch

In the second terminal, run the client example (see src/p4_client_example.cpp if you want to edit the desired trajectory):

rosrun p4_ros p4_min_time_client

ECOS and SOCP Documentation

http://176.10.116.53/ECOS/How-to-use/C-API#ECOS_C_API_Using_ECOS

https://laurentlessard.com/teaching/cs524/slides/13%20-%20cones%20and%20semidefinite%20constraints.pdf

https://docs.mosek.com/modeling-cookbook/cqo.html#rotated-quadratic-cones

https://people.eecs.berkeley.edu/~elghaoui/Teaching/EE227A/lecture6.pdf

https://r-forge.r-project.org/scm/viewvc.php/*checkout*/pkg/Rsocp/inst/doc/socp.pdf?root=rmetrics