# cartpole_nmpc

**Repository Path**: craipy/cartpole_nmpc

## Basic Information

- **Project Name**: cartpole_nmpc
- **Description**: 使用ocs2实现的cartpole控制
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 6
- **Forks**: 2
- **Created**: 2023-11-09
- **Last Updated**: 2025-02-11

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## 简介

这是一个使用 [ocs2](https://github.com/leggedrobotics/ocs2.git) 优化控制框架完成的 倒立摆模型的控制。包括普通的倒立摆运动控制和控制倒立摆达到指定的稳定状态。

目前实现了 一阶倒立摆，二阶倒立摆和三阶倒立摆。在完成了一阶倒立摆之后花了2个小时完成了二阶倒立摆，二阶倒立摆到三阶倒立摆的控制仅仅花了十几分钟。

### 视频

一阶倒立摆视频：[一阶倒立摆](https://www.bilibili.com/video/BV13P4y1k7oH)

二阶倒立摆视频：[二阶倒立摆](https://www.bilibili.com/video/BV1dG4y1k72A)

三阶倒立摆视频：[三阶倒立摆](https://www.bilibili.com/video/BV1GY41197Pd)


## 安装

主要使用的是 ocs2 优化控制框架，需要先安装 ocs2。安装过程见 [ocs2安装](https://leggedrobotics.github.io/ocs2/installation.html#installation)

创建一个ros的工作空间 以 `~/project/catkin_ws` 为例

```bash
# 创建工作空间
mkdir -p ~/project/catkin_ws/src
cd ~/project/catkin_ws/src

# clone ocs2
git clone https://github.com/leggedrobotics/ocs2.git
# clone pinocchio
git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git
# clone hpp-fcl
git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git
# clone ocs2_robotic_assets
git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git
# install dependencies
sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev
sudo apt install doxygen doxygen-latex
```

使用`catkin tool`代替 `catkin_make` 编译此包
需要安装 `catkin tool`
```bash
sudo apt install python3-catkin-tools
```

## 编译
```bash
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build cartpole_gazebo_ros
```

## 运行

```bash
roslaunch cartpole_gazebo_ros gazebo.launch
```