# ros_planning

**Repository Path**: a4zhangfei/ros_planning

## Basic Information

- **Project Name**: ros_planning
- **Description**: ros版planning代码
- **Primary Language**: C++
- **License**: MulanPSL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2020-04-02
- **Last Updated**: 2022-10-05

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ros_planning

#### Description
- ros版planning代码
- 规划起点选择包括两种模式：实际车辆位置和上帧轨迹上的对应位置。
- 控制模式有两种：无误差模式和实际模式（实际定位信息）
- 通过launch文件更改对应参数实现对应模式

#### Software Architecture
- 只包含结构化道路的规划

#### Installation
```bash
source devel/setup.bash
catkin make
roslaunch planning planning.launch
```
#### Result
![rviz显示](https://images.gitee.com/uploads/images/2020/0629/215115_050a7969_5313156.png "Screenshot from 2020-03-26 11-57-36.png")
![rviz显示](https://images.gitee.com/uploads/images/2020/0629/215134_69522ac3_5313156.png "Screenshot from 2020-03-26 11-58-15.png")