# multi_diffcar_ws
基于ROS实现多差速无人车编队控制
# 1 依赖
除了需要安装ros环境外，还需要安装eigen、casadi数学运算库
# 2 拷贝源码与编译
git clone https://github.com/quyinsong/multi_diffcar_ws.git
cd multi_diffcar_ws
catkin_make
source devel/setup.bash
# 3 运行代码
运行多机器人仿真环境（gazebo与rviz）：roslaunch mydiffcar_gazebo multi_diffcar_gazebo.launch
运行编队控制器：roslaunch nmpc_ctr test_formation.launch
# 4 rviz为领航车发布2D nav goal
C++开发基于ROS实现多差速无人车编队控制源码+使用说明+详细注释..zip
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2024-05-03
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C++开发基于ROS实现多差速无人车编队控制源码+使用说明+详细注释..zip （30个子文件） 
code src nmpc_ctr include nmpc_ctr 
nmpc_ctr.h 1KB
CMakeLists.txt 8KB src formation_ctr_2.cpp 7KB nmpc_ctr.cpp 7KB formation_ctr_3.cpp 7KB test_nmpc_ctr_1.cpp 6KB package.xml 3KB launch nmpc_ctr.launch 134B test_formation.launch 350B mydiffcar_gazebo CMakeLists.txt 7KB worlds myhouse model.sdf 3KB model.config 247B my_world.world 32KB urdf xacro my_sensors_kinect.urdf.xacro 2KB my_laser.urdf.xacro 3KB my_move.urdf.xacro 3KB my_camera.urdf.xacro 2KB my_base_camera_laser.urdf.xacro 709B my_sensors_camara.urdf.xacro 2KB my_base.urdf.xacro 6KB my_head.urdf.xacro 1KB my_sensors_laser.urdf.xacro 1KB map nav.yaml 894B nav.pgm 3.75MB package.xml 3KB launch multi_diffcar_gazebo.launch 4KB mydiffcar_gazebo.launch 1KB config mydiffcar_gazebo.rviz 10KB multi_diffcar.rviz 19KB README.md 574B资源评论
