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How to use ACADO in ROS

asked 2018-03-01 02:48:41 -0500

XenoNaij gravatar image

Hi everyone,

i am new to the ROS community but I already like ROS a lot, its so powerful and convenient to use.

For a recent project of mine, i am looking for a possibility to run ACADO codes as a node, which should then take over the task of state estimation of my robot. I already got my hands on ACADO using its MATLAB interface and know a little about it. When browsing on the Internet, i noticed that ROS provides support for ACADO!!!!! I was so happy to see this, but the docu page doesn't show much about instructions on how to use ACADO within ROS. Can someone who has already worked with ACADO in ROS, or anyone who knows something about the usage please help me getting started with this great package. Any help would be appreciated!

Thank you all in advance.

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I believe the reason that you're not finding much documentation is because ros-indigo-acado is only a 3rd party release of the upstream (ie: non-ROS-specific) regular library. It's not a full integration with ROS (as much as that makes ..

gvdhoorn gravatar image gvdhoorn  ( 2018-03-01 05:25:11 -0500 )edit

.. sense).

Clearpath appears to be using it for one of their products or services, so perhaps they can provide some more information, but afaict, the acado pkg that you linked to is just that: the library itself.

gvdhoorn gravatar image gvdhoorn  ( 2018-03-01 05:26:35 -0500 )edit

Thanks for your info. I was hoping to use it out of the box. I did come to notice Clearpath using it. But i doubt they would provide support for non customers. Maybe there is someone who used acado in ros anyway and can provide me some insight. But ill try to figure out how to link acado libs in ros

XenoNaij gravatar image XenoNaij  ( 2018-03-01 08:26:50 -0500 )edit

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answered 2019-03-28 07:48:42 -0500

rmensing gravatar image

I've recently added acado to the buildfarm for kinetic. You should be able to install ros-kinetic-acado.

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Asked: 2018-03-01 02:48:41 -0500

Seen: 227 times

Last updated: Mar 28 '19