This is an implementation of an inverted pendulum dynamics in ROS Please ensure that you have ROS Noetic and Gazebo 11 installed before using
In a catkin_ws create a src directory and clone this repo into it
cd ~/catkin_ws and use roslaunch cartpole_urdf spawn_cartpole.launch to launch
simulaiton
To launch LQR controller use roslaunch cp_controller my_robot_control.launch
In order to switch to QP controller (enforces an input constraint), go to FSM_data.cpp and switch controller type to 1.
In order to visualize the model in RVIZ use the following command
roslaunch cartpole_urdf cartpole.launch model:='$(find cartpole_urdf)/urdf/cartpole.urdf'
Dependencies: QuadProg++