Documentation
https://robotology.github.io/osqp-eigen/index.html
osqp-eigen
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robotology.github.io
Prerequsite
-Eigen3
-OSQP
-Cmake version Check
-C++ version Check
##################################
cd ~/
# OSQP Package Download
git clone https://github.com/osqp/osqp.git
cd osqp
# OSQP submodule pull (QDLDL)
git submodule update --init --recursive
#QDLDL build process###############
cd lin_sys/direct/qdldl/qdldl_sources/
mkdir build
cd build
cmake ..
make
#################################
#OSQP build & make install process####
cd ~/osqp
mkdir build
cd build
cmake ..
make
sudo make install
#################################
# OSQP-Eigen Package Download
git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build
cd build
cmake ..
make
################################
My Test Environment
Ubuntu 18.04
ROS Melodic
roscpp(c++14)
Cmake 3.8
TEST
CMakeLists.txt
cmake_minimum_required(VERSION 3.8)
project(qptest)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
sensor_msgs
)
find_package(cmake_modules REQUIRED)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
find_package(Eigen REQUIRED)
find_package(OsqpEigen REQUIRED)
include_directories(${Eigen_INCLUDE_DIRS})
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES qptest
#CATKIN_DEPENDS std_msgs
DEPENDS Eigen
# DEPENDS system_lib
)
include_directories(
# include
${CMAKE_SOURCE_DIR}/src
# ${PROJECT_SOURCE_DIR}/src
${catkin_INCLUDE_DIRS}
)
add_executable(qp_node src/main.cpp)
target_link_libraries(qp_node ${catkin_LIBRARIES})
target_link_libraries(qp_node ${Eigen_LIBRARIES})
target_link_libraries(qp_node OsqpEigen::OsqpEigen)
package.xml
<?xml version="1.0"?>
<package format="2">
<name>qptest</name>
<version>0.0.0</version>
<description>The qptest package</description>
<maintainer email="mkyun@todo.todo">mkyun</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>cmake_modules</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>cmake_modules</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<cpp cflags="`pkg-config --cflags eigen3` -I${prefix}/include `rosboost-cfg --cflags`"
lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lplanning_models"/>
</export>
</package>
TEST Result
example.cpp
