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_ros (same as above)