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carlike_planner

This project is modified from the uneven_planner for a 2D scenario. The known bug is that the optimizer may fail to converge when the target point is close to an obstacle. It might be fixed in the future.

requirements

sudo apt install ros-noetic-robot-state-publisher*
sudo apt install ros-noetic-joint-state-controller*
sudo apt install ros-noetic-controller*
sudo apt install ros-noetic-velocity-controllers*
sudo apt install ros-noetic-effort-controllers
sudo apt install ros-noetic-position-controllers
sudo apt install ros-noetic-gazebo-ros-control
sudo apt install ros-noetic-hector-gazebo
sudo apt install ros-noetic-effort-controllers
sudo apt install ros-noetic-joint-state-controller
sudo apt install ros-noetic-position-controllers
sudo apt install ros-noetic-velocity-controllers
sudo apt install ros-noetic-ompl
sudo apt install ros-noetic-tf2-geometry-msgs ros-noetic-ackermann-msgs ros-noetic-joy

ompl soft link

Due to the special file structure of OMPL, CMake may not be able to find OMPL, so a symbolic link needs to be created.

sudo ln -s /opt/ros/noetic/include/ompl-1.6/ompl /opt/ros/noetic/include/ompl

osqp-0.6.2 and osqp-eigen v0.8.0 for mpc controller:

Firstly, go to website of OSPQ and download complete_sources.zip from the Assets of 0.6.2. Then unzip the code,

cd osqp
mkdir build && cd build
cmake ..
make
sudo make install

Go to website of osqp-eigen and download Source code.zip from the Assets of osqp-eigen v0.8.0. Then unzip the code,

cd osqp-eigen-0.8.0
mkdir build && cd build
cmake ..
make
sudo make install

start

./run.sh

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