This repo is based on the work done in wb_mpc_centauro to extend the MPC for use with humanoids like the REEM-C robot.
The setup is the same as wb_mpc_centauro with additional details described in the issue here
The MPC setup is currently only intended to be used with Rviz and can be run with one of the launch files:
roslaunch humanoid_wb_ros reemc_ddp.launchroslaunch humanoid_wb_ros reemc_sqp.launch