Installation

This is a brief tutorial how to setup your computer to work on the controller software for Windows using the MinGW Compiler. Different build options can be found here: Tube-MPC. See the section on build instructions.

  1. Install MATLAB 2018b

  2. Create a new folder which will contain the software stack

  3. Create subfolders modules and simulation

  4. Checkout the following repositories in the corresponding subfolders on your local machine

    • iac_software/mod_control from here

    • iac_software/sim_vehicle_dynamics from here

  5. Install and setup a C/C++ compiler for MATLAB

    • Install the MATLAB Support for MinGW-w64 C/C++ Compiler from the MATLAB Add-Ons

    • Run mex -setup in MATLAB to setup the compiler

  6. Install the Speedgoat IO Blockset version 9.2.0.1 for MATLAB R2018b (optional)

    • This driver is only required if you want to run the HiL setup

    • It requires a license which you can obtain directly from Speedgoat

  7. Install OSQP (https://github.com/osqp/osqp)

    • Clone the repository and initialize submodules if prompted.

    • Check if cmake is installed via typing cmake into a shell (e.g. classical commandline or powershell)

    • Check if gcc is installed in the correct version (tested against tdm64-gcc-5.1.0-2.exe for Windows) via typing gcc -v into a shell. Can be downloaded here.

    • In oder to for the following commands to work, navigate to the OSQP repository first and use PowerShell or cmd for the following commands.

    mkdir build
cd build
cmake -G "MinGW Makefiles" ..
cmake --build .

    • The file libosqp.a has to be renamed to libosqp_mingw.lib and copied from ‘/osqp/build/out’ to ‘mod_control/misc/osqp/lib’.

    • Copy the content of the include folder /osqp/include to /mod_control/misc/osqp/header

  8. Check if you setup everything correctly