Btraj_osqp-eigen

Change the QP solver from Mosek to osqp-eigen ,make it possible to run it on you arm linux
中文注释

install [armadillo]:

sudo apt-get install libarmadillo-dev

install OSQP :

git clone --recursive https://github.com/osqp/osqp
cd osqp
mkdir build
cd build
cmake -G "Unix Makefiles" ..
cmake --build .
cmake --build . --target install

install osqp-eigen

git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build
cd build
cmake ../
make
make install

Clone the repository to your catkin workspace and catkin_make. For example:

cd ~/catkin_ws/src
git clone git@github.com:YYB666/Btraj_osqp-eigen.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

Usage

roslaunch bezier_planer simulation.launch