Vendor package to use the solver MOSEK in ROS2 applications.

Mosek version: 10.1.16.

Tested with a Humble ROS distribution only (Ubuntu 22.04 LTS)

1. Install the package

cd <ros_ws>/src
git clone <this_repos>
cd ..
colcon build

2. Get a license

Note that a license is mandatory to run MOSEK. See the website for the detailed procedure.

The file mosek.lic you will obtain has to be copied to your personal home folder in ~/mosek/mosek.lic.

package.xml :

...
<depend>mosek_vendor_ros2</depend>
...

CMakeLists.txt :

...
find_package(mosek_vendor_ros2)
...
ament_target_dependencies(<the_target> <type> mosek_vendor_ros2)
...

xxx.cpp :

#include <mosek_vendor_ros2/fusion.h>