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acados_solver_ros2.md

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acados_driver_ros2

This project includes:

  1. The acados_vendor_ros2 package: a vendored package for the Acados optimization framework that exposes both the C library and the Python library (acados_template python module).
  2. The acados_solver_ros2 repos that contains the helper packages to build Acados solver plugins for NMPC: acados_solver_base and acados_solver_plugins. The repos also contains the general documention for the Acados stack:
  3. The acados_solver_ros2_examples repos that contains demo packages to use acados_solver_ros2 to control a robot. The application includes an Acados-based plugin for NMPC, a ros2-control controller that uses the plugin, and a simulation setup with an inverted pendulum.