Agilex-robots-tracker

安装依赖换环境

1.QSQP安装

git clone --recursive https://github.com/osqp/osqp
cd osqp
mkdir build
cd build
cmake .. -DBUILD_SHARED_LIBS=ON
make
sudo make install

2.QSQP-Eigen安装

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

3.casadi求解器安装

pip install casadi

文件说明

1.启动hunter跟踪一个路点的仿真

roslaunch tracker_demo single_hunter_track.launch

2.启动scout跟踪一个路点的仿真

roslaunch tracker_demo single_scout_track.launch

3.启动hunter跟踪scout的仿真

roslaunch tracker_demo hunter_track_scout.launch

4.启动scout跟踪hunter的仿真

roslaunch tracker_demo scout_track_hunter.launch

注意:启动前需要对相关配置文件进行修改,here

效果展示

修改记录

2022-12-10

• 解决&更换hunter gazebo发布odom异常问题