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Commit 7aa30f19 authored by Simon's avatar Simon
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Update README

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pointcloud_to_laserscan and velodyne_description are standard packages that have been altered, this is why they are included in this repository. To make the LiDAR less resource-heavy, the velodyne_description has been modified to make it generate more sparse readings.
## Copy bash files to root catkin workspace folder
Copy these files to your catkin worksspace, they are used to launch Gazeob, RViz, the LiDAR-launch file, and the MPC-launch file.
Copy the bash files to your catkin worksspace, they are used to launch Gazeob, RViz, the LiDAR-launch file, and the MPC-launch file.
```
cp src/reactive-collision-avoidance/bash_launch_files/* .
```
## Installing ACADO for MPC
Do the following in the src/ folder in your catkin workspace.
```
git clone https://github.com/acado/acado.git -b stable ACADOtoolkit
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## Modifying MPC
The MPC Solver is generated by: mav_control_rw/mav_nonlinear_mpc/solver_made_from_cpp/nmpc_solver_setup.cpp
The MPC Solver is used by: mav_control_rw/mav_nonlinear_mpc/src/nonlinear_mpc.cc
Generated arrays can be seen in: mav_control_rw/mav_nonlinear_mpc/solver/acado_common.h
### When changes are made to nmpc_solver_setup, make sure to build it accordingly:
......
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