{"id":28761053,"url":"https://github.com/kumarrobotics/risk_mpc","last_synced_at":"2025-06-17T06:39:37.642Z","repository":{"id":278229407,"uuid":"934946812","full_name":"KumarRobotics/risk_mpc","owner":"KumarRobotics","description":null,"archived":false,"fork":false,"pushed_at":"2025-06-12T21:00:49.000Z","size":176049,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":4,"default_branch":"main","last_synced_at":"2025-06-12T21:48:32.594Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Dockerfile","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/KumarRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-02-18T16:53:51.000Z","updated_at":"2025-06-09T08:20:34.000Z","dependencies_parsed_at":"2025-02-18T17:50:28.443Z","dependency_job_id":"b44b1510-1477-4b37-a615-53317857b7a9","html_url":"https://github.com/KumarRobotics/risk_mpc","commit_stats":null,"previous_names":["kumarrobotics/negative_obstacle_detection","kumarrobotics/risk_mpc"],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/KumarRobotics/risk_mpc","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Frisk_mpc","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Frisk_mpc/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Frisk_mpc/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Frisk_mpc/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/KumarRobotics","download_url":"https://codeload.github.com/KumarRobotics/risk_mpc/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Frisk_mpc/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":260308494,"owners_count":22989814,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-17T06:39:36.598Z","updated_at":"2025-06-17T06:39:37.620Z","avatar_url":"https://github.com/KumarRobotics.png","language":"Dockerfile","funding_links":[],"categories":[],"sub_categories":[],"readme":"Risk MPC\n=============\n![Docker CI Build](https://github.com/KumarRobotics/dcist_master/actions/workflows/docker-build.yaml/badge.svg?branch=master)\n\nThis is the base image used for negative obstacle detection at KR, for the Jackals to run ROS2-Jazzy on Ubuntu-24.04\n\nTL;DR:\n - It installs the dependencies required by many user packages (see\n   `risk-mpc/Dockerfile`).\n - It copies the `ws` main dcist workspace and builds it.\n - It provides helper scripts `build.bash`, `run.bash` and `join.bash`\n\n### Architectures\nThree architectures are provided:\n - `kumarrobotics/risk-mpc-bare` - **x86_64 CPU**: To run in CPU-only platforms, such as the Intel NUC for the high-altitude quads. Based on `ubuntu` Docker images.\n - `kumarrobotics/risk-mpc-nvda` - **x86_64 CUDA**: To run in x86_64 GPU-accelerated platforms, such as the computers on the Jackals. Based on `nvidia/cuda` Docker images.\n - `kumarrobotics/risk-mpc-nvda` - **arm64 CUDA**: To run in Nvidia Jetson platforms.\n\n### How to build and use?\n```\ngit clone https://github.com/KumarRobotics/risk_mpc.git\ncd risk_mpc \u0026\u0026 git submodule update --init --recursive\n./build.bash risk-mpc x86_64_nvda\n./run.bash risk-mpc-nvda:latest\n```\n\n### Notes on how to start up the Jackal\nTo launch the base hardware (no sensors), use the following commands:\n\n```\nros2 launch jackal_robot bringup.launch.py\nros2 run safety_controller safety_controller\n```\n\n### Notes on how to start the zed and ouster\nTo launch the camera and LIDAR, use the following commands:\n\n```\nros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i\nros2 launch ouster_ros sensor.composite.launch.py viz:=false\n```\n\n### Notes on how to get odometry estimates\nTo receive odometry, use the following commands:\n\n```\nros2 launch direct_lidar_inertial_odometry dlio.launch.py rviz:=false\n```\n\n### Notes on running the planning framework\nTo get obstacle detection\n\n```\nros2 launch groundgrid ground_grid.launch.py\nros2 launch obstacle_detection obstacle_detection.launch.py\n```\n\nTo get the trajectory planning and control framework\n\n```\nros2 launch planners planners.launch.py\nros2 run mpc_controller mpc_llc\n```\n\n### Notes on launching the GPS for validation\nros2 launch ublox_gps ublox_gps_node-composed-launch.py","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Frisk_mpc","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkumarrobotics%2Frisk_mpc","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Frisk_mpc/lists"}