https://github.com/boschresearch/acados_nav2_plugins
A collection of acados-based plugins for nav2
https://github.com/boschresearch/acados_nav2_plugins
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Last synced: 4 months ago
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A collection of acados-based plugins for nav2
- Host: GitHub
- URL: https://github.com/boschresearch/acados_nav2_plugins
- Owner: boschresearch
- License: apache-2.0
- Created: 2023-07-07T08:48:47.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2023-07-14T12:16:21.000Z (almost 3 years ago)
- Last Synced: 2025-10-07T10:43:45.803Z (8 months ago)
- Topics: keep
- Homepage:
- Size: 11.7 KB
- Stars: 4
- Watchers: 3
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Notice: NOTICE
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README
[](LICENSE)
# The acados_nav2_plugins repository
A collection of acados-based plugins for [Navigation2](https://navigation.ros.org/). In detail, this repository contains two ROS 2 packages:
* [acados_nav2_export](acados_nav2_export/) provides a library to export [acados](https://docs.acados.org/)-based solvers for use in Navigation2.
* [acados_nav2_controller](acados_nav2_controller/) provides controller plugins for Navigation2.
Technical information on the interfaces and use of these packages is given in the README.md files in the corresponding subfolders.
## NOTICE
This repository is currently (date of writing: July 11, 2023) still under construction. Primarily finishing preparations in dependency repositories:
* [boschresearch/blasfeo-vendor](https://github.com/boschresearch/blasfeo-vendor)
* [boschresearch/hpipm-vendor](https://github.com/boschresearch/hpipm-vendor)
* [boschresearch/acados](https://github.com/boschresearch/acados)
Please check back later this week for updates...
### Updates
* 2023-07-14 Integration of nav2 plugin with reworked build pipelines for acados.
* 2023-07-13 Acados packages for C and Python are built using colcon, tracking progress in this [pull request](https://github.com/boschresearch/acados).
* Ongoing: migrating CMake-based Python test execution management into Python package.
* 2023-07-11 Implementation of vendor packages for [blasfeo](https://github.com/boschresearch/blasfeo-vendor) and [hpimp](https://github.com/boschresearch/hpipm-vendor) made available.
## Purpose of the project
The software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262).
## Requirements, how to build, test, install, use, etc.
Clone the repository into a ROS workspace and build it using [colcon](https://colcon.readthedocs.io/).
## License
acados_nav2_plugins is open-sourced under the Apache-2.0 license. See the [LICENSE](LICENSE) file for details.
For a list of other open source components included in acados_nav2_plugins, see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
## Quality assurance
The colcon_test tool is used for quality assurances, which includes cpplint, uncrustify, flake8, xmllint and various other tools.
## Known issues/limitations
Please notice the following issues/limitations:
* Currently, not all QP solvers ar supported. Only HPIPM QP solver can be selected.