Quadrotor-NMPC-Control 开源项目复现与问题记录

ACADOS NMPC Quadrotor Position Control Demo

四旋翼高速NMPC控制 ACADOS

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项目环境配置流程如下：

git clone https://github.com/LGQWakkk/Quadrotor-NMPC-Control.git

cd Quadrotor-NMPC-Control

conda activate mujo  # my conda env

安装 ACADOS

ACADOS 是一个复杂的优化工具，需要手动编译和安装。以下是安装步骤：

git clone https://github.com/acados/acados.git

cd acados

mkdir -p build
cd build
cmake ..
make install

如果 cmake .. 遇到如下报错：

cmake ..
-- Build type is Release
-- ACADOS_WITH_OPENMP: OFF
CMake Error at external/CMakeLists.txt:48 (add_subdirectory):
The source directory

TEXT

/home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados/external/blasfeo

does not contain a CMakeLists.txt file.

CMake Error at external/CMakeLists.txt:61 (add_subdirectory):
The source directory

TEXT

/home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados/external/hpipm

does not contain a CMakeLists.txt file.

--
-- Target: BLASFEO is X64_AUTOMATIC, HPIPM is X64_AUTOMATIC
-- Linear algebra: HIGH_PERFORMANCE
-- Octave MEX (OFF)
-- System name:version Linux:5.15.0-131-generic
-- Build type is Release
-- Installation directory is /home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados
-- OpenMP parallelization is OFF

-- Configuring incomplete, errors occurred!
See also "/home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados/build/CMakeFiles/CMakeOutput.log".

从 CMake 错误信息来看，问题是由于 blasfeo 和 hpipm 子模块缺失导致的。这些子模块是 ACADOS 的核心依赖项，通常通过 Git 子模块初始化来获取。以下是解决此问题的详细步骤：

初始化 Git 子模块

ACADOS 使用 Git 子模块来管理依赖项（如 blasfeo 和 hpipm）。如果子模块未初始化，CMake 将无法找到相关的 CMakeLists.txt 文件。

进入 ACADOS 目录

cd /home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados

初始化子模块

运行以下命令初始化子模块：

git submodule update --init --recursive

检查子模块是否成功初始化

确保 blasfeo 和 hpipm 目录已正确下载：

ls external/blasfeo
ls external/hpipm

重新运行 CMake

子模块初始化完成后，重新运行 CMake：

mkdir -p build
cd build
cmake ..

检查依赖项

确保已安装所有依赖项。在 Ubuntu 上，可以运行以下命令安装依赖：

sudo apt-get install cmake build-essential gcc g++ gfortran

编译 ACADOS

CMake 配置成功后，编译 ACADOS：

make install

检查 libacados.so 是否生成

编译完成后，检查 libacados.so 是否生成：

ls /home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados/lib/libacados.so

设置环境变量

确保 LD_LIBRARY_PATH 包含 libacados.so 的路径。运行以下命令：

export LD_LIBRARY_PATH=/home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados/lib:$LD_LIBRARY_PATH

注意在.bashrc文件中添加：

# ACADOS
export ACADOS_SOURCE_DIR=/home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados
export LD_LIBRARY_PATH=/home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados/lib:$LD_LIBRARY_PATH

最后安装 Python 接口

进入 acados_template 目录，安装 Python 接口：

cd /home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados/interfaces/acados_template

conda activate mujo
pip install .

OK，到这里环境配置完成！

下面开始运行对应的demo文件：main.py （注意在终端运行）

python main.py

初次运行应该会遇到如下的提示：

hovor speed: 15.777730167256925 krpm
field AcadosOcpDims.N has been migrated to AcadosOcpOptions.N_horizon. setting AcadosOcpOptions.N_horizon = N. For future comppatibility, please use AcadosOcpOptions.N_horizon directly.

Tera template render executable not found, while looking in path:
/home/hjx/hjx_file/MuJoCo/Quadrotor-NMPC-Control/acados/bin/t_renderer
In order to be able to render the templates, you need to download the tera renderer binaries from:
https://github.com/acados/tera_renderer/releases

Do you wish to set up Tera renderer automatically?
y/N? (press y to download tera or any key for manual installation)

问题是由于 t_renderer 未找到导致的。t_renderer 是 ACADOS 用于渲染模板的工具，缺失时会影响代码生成。因此只要在运行窗口处输入 “y” 即可

最终的main.py文件运行无误后，会出现如下的界面：

说明项目代码运行成功！！！

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参考：

GitHub - LGQWakkk/Quadrotor-NMPC-Control: 四旋翼高速NMPC控制 ACADOS