NMPC Controller using ACADOS and ROS

Solver Design and Simulation using ACADOS Python Interface

First make sure you have successfully installed ACADOS

In this robot model, system input is u = [v, w] where v denotes the linear velocity of the vehicle and w denotes the vehicle’s angular velocity.

System state is X = [x, y, theta] where x and y denote to the x y coordinates of the vehicle’s position on the two-dimensional plane and theta denotes to the angle between the vehicle’s direction and the positive x-axis at two adjacent x and y coordinates.

Below are simulations with three different point counts: a total of 100 points, a total of 300 points, and a total of 500 points.

The initial states for these three simulations is the same with X0 = [-2.0, 5.3, -0.00629628].

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Simulation with 100 points 		Second Image Top
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Simulation with 300 points 		Third Image Top
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Simulation with 500 points

Below are simulations starting from three different initial states: X0 = [-2.0, 5.3, -0.00629628], X0 = [-1.0, 3.0, -0.00629628], and X0 = [1.0, 5.0, 1.57629628], respectively. The number of points for each simulation is the same, with a total of 300 points.

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Simulation with X0 = [-2.0, 5.3, -0.00629628] 		Second Image Top
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Simulation with X0 = [-1.0, 3.0, -0.00629628] 		Third Image Top
Third Image Bottom
Simulation with X0 = [1.0, 5.0, 1.57629628]

To run the simulation in your own workspace:

In robot_model.py modify your robot model, in create_solver.py modify your ocp definition, in solver.py design your solver, then run:

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cd /path/to/scripts/
source /path/to/your/virtualenv/bin/activate
python3 main.py

Install ACADOS

Compile ACACOS

following this tutorial (choose CMake part to proceed, not Make) to install

If your Ubuntu is running on WSL, follow the Windows 10+(WSL) part first

Running Example Interface

There are 3 interfaces of ACADOS:

  1. C Interface
  2. Python Interface
  3. Matlab + Simulink and Octave interface

I choose Python Interface (Currently, Python >= 3.8 is tested).

  1. Make sure you compile and install acados by following the CMake installation instructions.

  2. In one directory you choose, create a Python virtual environment

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    virtualenv env --python=/usr/bin/python3

  3. activate this environment

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    source env/bin/activate

  4. Install acados_template Python package (replace the with the path to your acados ):

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    pip install -e <acados_root>/interfaces/acados_template

  5. Add the path to the compiled shared libraries libacados.so, libblasfeo.so, libhpipm.so to LD_LIBRARY_PATH (default path is <acados_root/lib>) by running:

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    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"<acados_root>/lib"
    export ACADOS_SOURCE_DIR="<acados_root>"

  6. Now (2024/6/25) ACADOS has a bug with the HPIPM & BLASFEO targets, so do the following to fix it:

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    cd <acados_dir>
    rm build/* -rf
    cd build
    cmake .. -DACADOS_WITH_QPOASES=ON -DACADOS_EXAMPLES=ON -DHPIPM_TARGET=GENERIC -DBLASFEO_TARGET=GENERIC
    make -j4
    make install -j4
    # run a C example, e.g.:
    ./examples/c/sim_wt_model_nx6

    if you can successfully run a C example, meaning you has fixed this bug

  7. Now run a Python example:

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    cd <acados_dir>
    cd examples/acados_python/getting_started/
    python3 minimal_example_ocp.py

    you will see bug: ! LaTeX Error: File 'type1cm.sty' not found.

    Now install texlive and its dependencies

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    sudo apt install texlive
    sudo apt install texlive-latex-extra cm-super dvipng

    Then run it again:

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    python3 minimal_example_ocp.py

    You should see the result like the following: