ga-ocp

This repository is organized as a multi-package ROS 2 workspace repository.

Packages

• ga_ocp_core: Geometric-algebra optimal control core, including Crocoddyl integration, tests, benchmarks, and robot descriptions used by the current benchmark suite.
• ga_ocp_ros2: ROS 2 application-layer package for planner nodes, launch files, RViz configs, and system integration.

Layout

ga-ocp/
  ga_ocp_core/
  ga_ocp_ros2/

Build

From a ROS 2 workspace root:

source /opt/ros/humble/setup.bash
colcon build --parallel-workers 4 --packages-select ga_ocp_core ga_ocp_ros2 \
  --cmake-args -DGA_OCP_BUILD_BENCHMARKS=ON -DCMAKE_BUILD_PARALLEL_LEVEL=4

ga_ocp_core expects a standard installed dependency:

• find_package(TetraPGA CONFIG REQUIRED)

Notes

• Benchmarks are kept on the main branch but remain disabled by default.
• When benchmark targets are enabled, CasADi-backed benchmark cases are built automatically.
• ga_ocp_ros2 contains the ROS 2 nodes, launch files, rviz configs, and panel plugin built on top of ga_ocp_core.