yswhynot / decentralized-mpc

PuzzleBot

The code for this project is adapted from here: https://github.com/ZoomLabCMU/puzzlebot_anchor. Feel free to check it out for more details.

Installation

1. Create conda environment with

conda env create -f puzzle_env.yml

This will create a environment named puzzle. You will need to activate it with

conda activate puzzle

2. Install three other dependencies with pip in the puzzle environment.

pip install casadi
pip install polytope
pip install pybullet

3. The package is originally in the ROS catkin source workspace due to my hardware interface. But the simulation is independent of ROS. You might need to add the directory to your python path.

Run Simulation

Run the following for the simulation.

python bin/run_sim.py

Let me know if you encounter any errors.