A collection of acados-based plugins for Navigation2. In detail, this repository contains two ROS 2 packages:
- acados_nav2_export provides a library to export acados-based solvers for use in Navigation2.
- acados_nav2_controller provides controller plugins for Navigation2.
Technical information on the interfaces and use of these packages is given in the README.md files in the corresponding subfolders.
This repository is currently (date of writing: July 11, 2023) still under construction. Primarily finishing preparations in dependency repositories:
- boschresearch/blasfeo-vendor
- boschresearch/hpipm-vendor
- boschresearch/acados Please check back later this week for updates...
- 2023-07-14 Integration of nav2 plugin with reworked build pipelines for acados.
- 2023-07-13 Acados packages for C and Python are built using colcon, tracking progress in this pull request.
- Ongoing: migrating CMake-based Python test execution management into Python package.
- 2023-07-11 Implementation of vendor packages for blasfeo and hpimp made available.
The software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262).
Clone the repository into a ROS workspace and build it using colcon.
acados_nav2_plugins is open-sourced under the Apache-2.0 license. See the LICENSE file for details.
For a list of other open source components included in acados_nav2_plugins, see the file 3rd-party-licenses.txt.
The colcon_test tool is used for quality assurances, which includes cpplint, uncrustify, flake8, xmllint and various other tools.
Please notice the following issues/limitations:
- Currently, not all QP solvers ar supported. Only HPIPM QP solver can be selected.