ros_optimization_engine

ROS meets Optimization Engine and they drive a Clearpath Robotics Husky.

You can send the waypoint to the /test/command/pose topic and the MPC controller will try to get the vehicle there.

You must have a working catkin workspace with Clearpath Robotics Husky package. Then you can issue

roslaunch husky_gazebo husky_empty_world.launch
roslaunch open_mpc_controller open_mpc_controller.launch

Thanks to:

• Optimization Engine
• CasADi
• Clearpath Robotics Husky