This is a demo on applying neural networks on a mpc controllers for a differential drive robot that has to do trajectory tracking.
WORK IN PROGRESS
To use the code, install the environment with:
pip install -e .
or with pixi:
pixi run build-acados && pixi install
Install l4casadi (CPU Version):
git clone https://github.com/Tim-Salzmann/l4casadi.git
pip install -r requirements_build.txt
pip install . --no-build-isolation
Build acados:
git clone https://github.com/acados/acados.git
cd acados
git submodule update --recursive --init
cd external/acados && mkdir -p build && cd build && cmake -DACADOS_WITH_QPOASES=ON -DACADOS_WITH_OSQP=ON .. && make -j8
pip install -e external/acados/interfaces/acados_template