Ros_interface_mpc implements a ROS interface to simulate whole-body motions with the Simple simulator and the Aligator library.
##Features
The Ros_interface_mpc library provides:
- simulation nodes that subscribe to control topics and display the robot state on rviz
- MPC nodes that subscribe to the robot state topics and compute the next optimal trajectory
Create a ROS workspace and clone the repository in the sources:
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone git@github.com:edantec/ros_interface_mpc.git --recursive
Then build the package:
colcon build
- simple-mpc
- Simple
- ROS Humble installed from Conda