acados_vendor_ros2

Simple ros2 vendor for Acados.

Installation (humble)

git clone https://github.com/ICube-Robotics/acados_vendor_ros2.git
cd acados_vendor_ros2

rosdep install --from-paths . -y --ignore-src
colcon build

Installation (jazzy and later)

git clone https://github.com/ICube-Robotics/acados_vendor_ros2.git
cd acados_vendor_ros2

PIP_BREAK_SYSTEM_PACKAGES=1 rosdep install --from-paths . -y --ignore-src
colcon build

Tip

Since Ubuntu 24.04, pip restricts installing Python packages to system locations by default. The PIP_BREAK_SYSTEM_PACKAGES=1 flag allows rosdep to install Python dependencies even when system Python is used. You can avoid using the flag if you manually install the casadi binaries beforehand as a system package or if you use a virtual environment (later option recommended).

Usage

For a C++ project

package.xml :

...
<depend>acados_vendor_ros2</depend>
...

CMakeLists.txt :

...
find_package(acados_vendor_ros2)
...
ament_target_dependencies(<the_target> PUBLIC acados_vendor_ros2)
...

xxx.cpp :

#include "acados_c/ocp_nlp_interface.h"
...
ocp_nlp_plan_t* plan_ptr = ocp_nlp_plan_create(N);
...

For a Python project

package.xml :

...
<depend>acados_vendor_ros2</depend>
...

setup.py : Nothing special.

XXX.py :

from acados_template import AcadosModel, AcadosOcp
...
model = AcadosModel()
...