This is a reproduce project of MPC-D-CBF: Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot

Reproduce procedure please refer to jianzhuozhuTHU#1
pseudo_odom node has been included in this project.

In addition, you may need

sudo apt-get install ros-noetic-velodyne-*  
sudo apt-get install ros-noetic-jackal-control  
sudo apt-get install ros-noetic-jackal-description  
pip install casadi  

Origin project:

Github: https://github.com/jianzhuozhuTHU/MPC-D-CBF
arXiv: https://arxiv.org/abs/2209.08539
bilibili: https: https://www.bilibili.com/video/BV1fN4y1N7pD/?vd_source=e11d8557ce1350ea4930d15280abb7e2
YouTube: https://youtu.be/U3X6vqKTxRw