Please refer to the franka
branch for a version that adds obstacle avoidance.
This algorithm plans the motion of UR20 based on Nonlinear Model Predictive Control (NMPC).
- UR20 gazebo simulation environment
- ROS Noetic
- libmpc (0.5.0)
- Pinocchio
git clone https://github.com/sm3304love/ur20_description.git
roslaunch ur20_description velocity_sim.launch
rosrun nonlinear_mpc main
Screencast.from.04-03-2024.12_49_57.PM.mp4
- Self collision
- Obstacle avoidance