(1)OSQP安装
git clone --recursive https://github.com/osqp/osqp
cd osqp
mkdir build
cd build
cmake .. -DBUILD_SHARED_LIBS=ON
make
sudo make install
(2)OSQP-Eigen安装
git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build
cd build
cmake ..
make
sudo make install
(3)casadi求解器安装
pip install casadi
(4)Scout仿真相关依赖
请参考松灵官方:https://github.com/agilexrobotics/ugv_gazebo_sim/tree/master/scout
source devel/setup.bash
roslaunch tracker_demo spawn_scout_env.launch