CBF ROS package

Before running the code, follow the instructions in cbf_ros folder to install the HSR ROS packages on your Ubuntu system.

How to run the code?

1. Copy Tjanction.world under ~/cbf_ros/worlds folder
2. Open two instances of MATLAB. In one instance, open main.m and in the other one open cbf_controller.m.
3. Open a terminal in your ubuntu system and type ifconfig. Then, copy the ip address under eno1 and change the ip address of rosinit('http://ip address:11311') with the copied address in main.m and cbf_controller.m scripts.
4. Run the simulator in Gazebo.
5. Run cbf_controller.m in MATLAB.
6. Run main.m in the other MATLAB instance.