quadrotor_mpc_acados

Description

This package implements different MPC controllers for planar and 3D quadrotors. The MPC controllers were designed using acados, which is a set of embedded solvers for nonlinear optimal control.

Installation

1. Clone the acados reposetory

git clone https://github.com/acados/acados

2. Switch to version 0.1.6

cd <acados_root_folder>
git checkout tags/0.1.6

3. Go inside the <acados_root_folder> and initialze all submodules

git submodule update --recursive --init

4. Build and install acados using CMake while still inside the <acados_root_folder>

mkdir -p build
cd build 
cmake .. -DACADOS_WITH_QPOASES=ON
make install

5. Install the Python Interface with pip3

pip3 install -e <acados_root_foler>/interfaces/acados_template

6. Add the path the compiled shared libraries

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"<acados_root>/lib"
export ACADOS_SOURCE_DIR="<acados_root>"

7. In order to be able to successfully render C code templates, you need to download the t_renderer binaries for your platform from https://github.com/acados/tera_renderer/releases/ and place them in <acados_root_folder>/bin (please strip the version and platform from the binaries (e.g. t_renderer-v0.0.34 -> t_renderer). Notice that you might need to make t_renderer executable. Run export ACADOS_SOURCE_DIR=<acados_root_folder> such that the location of acados will be known to the Python package at run time.

8. Change the path to acados installation folder in each files in the models folder.