Gurobi, osqp & qpoases reg

[lakshmip001]

Gurobi, OSQP and qpOASES are this installations compulsory for trajopt_ros to work. Because I didnt install any of them but optimization is done when I run the program but crashes. Kindly please help me with the instructions to install Gurobi, osqp & qpoases with ros.

[mpowelson]

I can't help with install instructions as I haven't done it yet, but these are not required. BPMPD is included in the repo, so that is what you are seeing being used now.

[lakshmip001]

Thanks . I thought my error was because of the optimizer so I thought of try changing it .

[mpowelson]

If you're still interested in trying other optimizers, I just ran it with OSQP for the first time. The install instructions on their website worked fine. From Build From Sources:

git clone --recursive https://github.com/oxfordcontrol/osqp
cd osqp
mkdir build
cd build
cmake -G "Unix Makefiles" ..
cmake --build .
sudo cmake --build . --target install

Remove via

cmake --build . --target uninstall

Then you will need to clean and rebuild trajopt
Note: I actually used checkinstall rather than cmake install, but either should work.

[lakshmip001]

Thanks.I will try doing it.

[mpowelson]

@arocchi Do you have some instructions for using qpOASES? I "installed" using these instructions, and I added these environment variables to my .bashrc file.

export TRAJOPT_CONVEX_SOLVER=QPOASES
export qpOASES_SOURCE_DIR=/home/mpowelson/workspaces/temp/ext/qpOASES/qpOASES-3.2.1/src
export qpOASES_BINARY_DIR=/home/mpowelson/workspaces/temp/ext/qpOASES/qpOASES-3.2.1/bin

When I rebuild, I get a bunch or errors similar to this

/home/mpowelson/workspaces/temp/devel/.private/trajopt_sco/lib/libtrajopt_sco.so: undefined reference to `qpOASES::SQProblem::SQProblem(int, int, qpOASES::HessianType, qpOASES::BooleanType)'
/home/mpowelson/workspaces/temp/devel/.private/trajopt_sco/lib/libtrajopt_sco.so: undefined reference to `qpOASES::QProblem::init(qpOASES::SymmetricMatrix*, double const*, qpOASES::Matrix*, double const*, double const*, double const*, double const*, int&, double*, double const*, double const*, qpOASES::Bounds const*, qpOASES::Constraints const*, double const*)'
/home/mpowelson/workspaces/temp/devel/.private/trajopt_sco/lib/libtrajopt_sco.so: undefined reference to `qpOASES::SparseMatrix::SparseMatrix(int, int, int*, int*, double*)'
/home/mpowelson/workspaces/temp/devel/.private/trajopt_sco/lib/libtrajopt_sco.so: undefined reference to `qpOASES::SparseMatrix::SparseMatrix(int, int, int*, int*, double*)'
/home/mpowelson/workspaces/temp/devel/.private/trajopt_sco/lib/libtrajopt_sco.so: undefined reference to `qpOASES::SQProblem::hotstart(qpOASES::SymmetricMatrix*, double const*, qpOASES::Matrix*, double const*, double const*, double const*, double const*, int&, double*, qpOASES::Bounds const*, qpOASES::Constraints const*)' 

[arocchi]

@mpowelson it might be a compatibility issue between 3.2.0 and 3.2.1 (it would be weird as it should be a minor release, but looks like a reasonable explanation to me). Could you try with this repo? This uses qpOASES 3.2.0 and is catkinized

[mpowelson]

I may have had something else wrong, but the catkinized qpOASES works for me.

@lakshmip001 Here are instructions to set up qpOASES.

1. Clone this repo into your workspace. Make sure you grab his catkinized branch
2. Add export TRAJOPT_CONVEX_SOLVER=QPOASES to your .bashrc file if you want to set it as the default. Otherwise just set it in the pci
3. clean and rebuild workspace