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mit-acl / iscp_path_planner

Iterative sequential convex programming path planner, from Steven and Mark's ICRA 2015 paper
https://ieeexplore.ieee.org/document/7140034
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readme

Setup MOSEK

cd ~
wget http://download.mosek.com/stable/7.1.0.27/mosektoolslinux64x86.tar.bz2
tar xvf mosektoolslinux64x86.tar.bz2

get liscense file mosek.lic and put it in the mosek folder.

setup environment variable by adding the following lines to the ~/.bashrc

export PATH=$HOME/mosek/7/tools/platform/linux64x86/bin:$PATH
export LD_LIBRARY_PATH=$HOME/mosek/7/tools/platform/linux64x86/bin:$LD_LIBRARY_PATH

launching multi-quad demo

[Optional] To run projector:

0.1 run trajectory talker on Sikorsky roscd udp_project cd src python traj_visualizer_talker2.py

0.2 run projector code on Thor go to brett_workspace/udp_project/src python quad_projector.py

  1. run visualization roslaunch raven_rviz rviz.launch config:=interactive

  2. start controllers (make sure 'sim' bit agrees with multi_vehicle_server.py) //
    // c = MultiVehicleWaypointServer(['BQ01s', 'BQ02s', 'BQ03s', 'BQ04s']) /    / roslaunch quad_control control.launch veh:=BQ num:=01 sim:=1 iscp:=1 roslaunch quad_control control.launch veh:=BQ num:=02 sim:=1 iscp:=1 roslaunch quad_control control.launch veh:=BQ num:=03 sim:=1 iscp:=1 roslaunch quad_control control.launch veh:=BQ num:=04 sim:=1 iscp:=1

  3. run path_server rosrun iscp_path_planner multi_vehicle_path_server.py

  4. run demo trajectories rosrun iscp_path_planner multi_vehicle_demo.py

debugging using path.pdf

  1. install latex package apt-get install texlive-latex-extra apt-get install texlive install dvipng

  2. run path planner service rosrun iscp_path_planner path_planner

  3. generate random test case rosrun iscp_path_planner path_planner_single.py

  4. path.pdf file should be generated in directory from which 3 is ran square - starting position circle - intermediate waypoints

debugging using raven_rviz

  1. run visualization roslaunch raven_rviz rviz.launch config:=interactive

  2. start controllers (make sure 'sim' bit agrees with multi_vehicle_server.py) //
    // c = MultiVehicleWaypointServer(['BQ01s', 'BQ02s', 'BQ03s', 'BQ04s']) /    / roslaunch quad_control control.launch veh:=BQ num:=01 sim:=1 iscp:=1 roslaunch quad_control control.launch veh:=BQ num:=02 sim:=1 iscp:=1 roslaunch quad_control control.launch veh:=BQ num:=03 sim:=1 iscp:=1 roslaunch quad_control control.launch veh:=BQ num:=04 sim:=1 iscp:=1

  3. run path_server rosrun iscp_path_planner multi_vehicle_path_server.py

  4. run path planner rosrun iscp_path_planner path_planner

  5. run demo trajectories rosrun iscp_path_planner multi_vehicle_demo_live.py