drake-ocs2-mpc-example

Using drake for dynamic simulation and multibody kinematic computation and use ocs2 for model predict control solution without ros framework. The simplest example double integrator is given in the code.

Running Example

If you don't have drake installed, you need to install the drake library first. You can get more information from drake. Since ocs2 uses the catkin package, you will also need to install ros noetic to compile the module.

cd drake-ocs2-mpc-example
mkdir build
cd build
cmake ..
make -j
./src/mpc_double_integrator/mpc_double_integrator

Use meshcat slide bar to modify desire target position