The CARDSflow repo has been tested on Ubuntu 16.04 with ROS kinetic and Ubunutu 18.04 with ROS melodic. It may work on different platforms with different ROS versions. Make sure you install the following packages:

sudo apt install ros-$ROS_DISTRO-desktop-full libeigen3-dev libxml2-dev coinor-libipopt-dev \
qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev qml-module-qtquick2 \
qml-module-qtquick-window2 qml-module-qtmultimedia qml-module-qtquick-dialogs \
qml-module-qtquick-controls qml-module-qt-labs-folderlistmodel qml-module-qt-labs-settings \
ros-$ROS_DISTRO-moveit-msgs doxygen swig mscgen ros-$ROS_DISTRO-grid-map \
ros-$ROS_DISTRO-controller-interface ros-$ROS_DISTRO-controller-manager ros-$ROS_DISTRO-aruco-detect \
ros-$ROS_DISTRO-effort-controllers libxml++2.6-dev ros-$ROS_DISTRO-robot-localization libalglib-dev \
ros-$ROS_DISTRO-tf ros-$ROS_DISTRO-interactive-markers ros-$ROS_DISTRO-tf-conversions \


Install the newest json (version 3.6.1 at this time):

git clone
cd json && mkdir build && cd build
cmake ..
make -j8
sudo make install

Get The Code

Clone the code to your catkin workspace:

cd path/to/your/catkin_ws/src
git clone --recursive

Build From Source

First we need to build iDynTree (for more details on this step, visit the iDynTree website):

cd path/to/CARDSflow/iDyntree
mkdir build && cd build
cmake ..
make -j9
sudo make install

Next we need to build and install qpoases:

cd qpOASES/
mkdir build && cd build
cmake ../
sudo make -j9 install

Now you can build CARDSflow simply by building your catkin workspace:

cd path/to/your/catkin_ws
source devel/setup.bash

RaspberryPi 3B+ installation

Download the image using the following command:

wget -nv
wget -nv

Use at least a 16GB SDcard and flash the image using the following command. NOTE: make sure you are using the correct sd-card device (/dev/sdX), otherwise you might wipe your whole system!!!

sudo dd if=CARDSflow_raspberry_pi3B+.img of=/dev/sdX bs=1M status=progress

Insert the sd-card into the raspi and power it. The image provides Ubuntu 16.03 MATE with ROS kinetic installed. In the home folder you can find the roboy_arcade_maschine workspace which contains a build version of CARDSflow.