Expands README and highlights ROS 2 branch#119
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Mayankm96
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Dec 16, 2025
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| OCS2 handles general path constraints through Augmented Lagrangian or relaxed barrier methods. To facilitate the application of OCS2 in robotic tasks, it provides the user with additional tools to set up the system dynamics (such as kinematic or dynamic models) and cost/constraints (such as self-collision avoidance and end-effector tracking) from a URDF model. The library also provides an automatic differentiation tool to calculate derivatives of the system dynamics, constraints, and cost. To facilitate its deployment on robotic platforms, the OCS2 provides tools for ROS interfaces. The toolbox’s efficient and numerically stable implementations in conjunction with its user-friendly interface have paved the way for employing it on numerous robotic applications with limited onboard computation power. | ||
| > **ROS 2 Jazzy port available:** use branch `ros2` (Ubuntu 24.04, colcon/ament). See **ROS 1 vs ROS 2** below. |
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I suggest just to make a table here mentioning the ROS version and branch name corresponding to it.
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Done — added a small ROS↔branch table near the top.
Mayankm96
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Dec 16, 2025
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replaced the top ROS callout with a small ROS↔branch table, and simplified the ROS section to just installation pointers (ROS1 docs + ROS2 branch "ros2" installation.md) to avoid version-specific clutter in the main README. |
Mayankm96
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Dec 16, 2025
Mayankm96
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Updates the top-level README to better reflect OCS2's current scope (solvers, tooling, examples) and prominently points users to the ROS 2 Jazzy/colcon port on branch
ros2(with links to build instructions and assets).