refinecbf_ros

Builds a wrapper to interface with refineCBF in ROS1. Tested in simulation with crazyflie_clean, for quadcopters

Dependencies

This repository has been tested solely with ROS Noetic.

• It builds a wrapper around crazyflie_clean: https://github.com/UCSD-SASLab/crazyflie_clean which itself is a wrapper around crazyflie_ros.
• hj_reachability: https://github.com/StanfordASL/hj_reachability (git clone and then use pip install -e . for local installation. This should be using the same python version as your ROS
• cbf_opt: https://github.com/stonkens/cbf_opt (same as above)
• refineCBF: https://github.com/UCSD-SASLab/refineCBF (same as above)
• matplotlib: For visualization purposes, a matplotlib version of 3.6.2 is reccomended. Use pip install matplotlib==3.6.2 to install this version.

Turtlebot

To use the Turtlebot examples in this repository, please install the necessary Turtlebot3 packages using these instructions.

Crazyflie

To use the Crazyflie examples in this repository, please clone the crazyflie_clean package from UCSD SASLab.

Jackal

To use the Jackal examples in this repository, please install jackal-simulator for ROS Noetic

jackal-simulator: sudo apt-get install ros-noetic-jackal-simulator ros-noetic-jackal-desktop ros-noetic-jackal-navigation