NMPC

Install

Requirements

• Compiler supporting C++17
• Tested with Ubuntu 18.04 / ROS Melodic

Installation procedure

It is assumed that ROS is installed.

1. Setup catkin workspace.

   $ mkdir -p ~/ros/ws_nmpc/src
   $ cd ~/ros/ws_nmpc
   $ wstool init src
   $ wstool set -t src isri-aist/NMPC git@github.com:isri-aist/NMPC.git --git -y
   $ wstool update -t src
   

2. Install dependent packages.

   $ source /opt/ros/${ROS_DISTRO}/setup.bash
   $ rosdep install -y -r --from-paths src --ignore-src
   

3. Build a package.

   $ catkin build -DCMAKE_BUILD_TYPE=RelWithDebInfo --catkin-make-args all tests
   # For best performance
   $ catkin build -DOPTIMIZE_FOR_NATIVE=ON -DCMAKE_BUILD_TYPE=Release --catkin-make-args all tests
   

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