Robotic Optimization (ROBOPT) Library

Package to simplify implementation of optimization problems in Ceres commonly used in robotics.

This repository is used in a wider framework for multi-robot state estimation and path planning, available here.
If you use this code in your academic work, please cite (PDF):

@inproceedings{bartolomei2020multi,
  title={Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments},
  author={Bartolomei, Luca and Karrer, Marco and Chli, Margarita},
  booktitle={2020 {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
  year={2020}
}

Installation

In order to install RobOpt Open, follow these steps. First, create a catkin workspace:

$ mkdir -p catkin_ws/src
$ cd catkin_ws

Set-up the workspace:

$ catkin init
$ catkin config --extend /opt/ros/melodic
$ catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
$ catkin config --merge-devel

Clone the dependencies:

$ cd ~/catkin_ws/src
$ wstool init
$ wstool merge robopt_open/dependencies_ssh.rosinstall # To clone with https: robopt_open/dependencies_https.rosinstall
$ wstool up -j8

Finally, build the package:

$ cd ~/catkin_ws
$ catkin build robopt_open