# rover_planning

**Repository Path**: MrZhaosx/rover_planning

## Basic Information

- **Project Name**: rover_planning
- **Description**: 差分驱动无人车自主避障
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-04-14
- **Last Updated**: 2023-11-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# rover_planning

#### 介绍

无人车轨迹规划以及建图（octomap）

![全局地图](https://images.gitee.com/uploads/images/2021/0531/143809_a3a09f70_3055200.png "23.png")

#### 软件架构

 **motion_controller**  底层控制，负责与无人底盘进行通信，无人车的轨迹跟踪控制

 **planner**  无人车的轨迹规划模块，前段路径搜索基于 Hybrid A* ，后端优化基于B样条曲线

 **rover_span**  生成无人车的模型，用于rviz显示


#### 安装教程


```
git clone https://gitee.com/MrZhaosx/rover_planning.git
cd rover_planning
catkin_make

```

#### 使用说明

1.  生成无人车模型，同时启动t265

`roslaunch rover_span rover_spawn.launch`

2.  启动激光雷达

`roslaunch lslidar_c16_decoder lslidar_c16.launch`

3.  启动规划模块


`roslaunch plan_manage kino_replan_t265.launch`

4、启动建图模块

`roslaunch rover_span octomap.launch`

5、启动无人车的控制模块

` roslaunch motion_controller motion_controller.launch`