https://github.com/kumarrobotics/risk_mpc
https://github.com/kumarrobotics/risk_mpc
Last synced: 12 months ago
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- Host: GitHub
- URL: https://github.com/kumarrobotics/risk_mpc
- Owner: KumarRobotics
- Created: 2025-02-18T16:53:51.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-06-12T21:00:49.000Z (12 months ago)
- Last Synced: 2025-06-12T21:48:32.594Z (12 months ago)
- Language: Dockerfile
- Size: 168 MB
- Stars: 2
- Watchers: 4
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
Risk MPC
=============
This is the base image used for negative obstacle detection at KR, for the Jackals to run ROS2-Jazzy on Ubuntu-24.04
TL;DR:
- It installs the dependencies required by many user packages (see
`risk-mpc/Dockerfile`).
- It copies the `ws` main dcist workspace and builds it.
- It provides helper scripts `build.bash`, `run.bash` and `join.bash`
### Architectures
Three architectures are provided:
- `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.
- `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.
- `kumarrobotics/risk-mpc-nvda` - **arm64 CUDA**: To run in Nvidia Jetson platforms.
### How to build and use?
```
git clone https://github.com/KumarRobotics/risk_mpc.git
cd risk_mpc && git submodule update --init --recursive
./build.bash risk-mpc x86_64_nvda
./run.bash risk-mpc-nvda:latest
```
### Notes on how to start up the Jackal
To launch the base hardware (no sensors), use the following commands:
```
ros2 launch jackal_robot bringup.launch.py
ros2 run safety_controller safety_controller
```
### Notes on how to start the zed and ouster
To launch the camera and LIDAR, use the following commands:
```
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
ros2 launch ouster_ros sensor.composite.launch.py viz:=false
```
### Notes on how to get odometry estimates
To receive odometry, use the following commands:
```
ros2 launch direct_lidar_inertial_odometry dlio.launch.py rviz:=false
```
### Notes on running the planning framework
To get obstacle detection
```
ros2 launch groundgrid ground_grid.launch.py
ros2 launch obstacle_detection obstacle_detection.launch.py
```
To get the trajectory planning and control framework
```
ros2 launch planners planners.launch.py
ros2 run mpc_controller mpc_llc
```
### Notes on launching the GPS for validation
ros2 launch ublox_gps ublox_gps_node-composed-launch.py