# planning-and-control-for-center

**Repository Path**: chenhengwei/planning-and-control-for-center

## Basic Information

- **Project Name**: planning-and-control-for-center
- **Description**: planning-and-control-for-center
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-02-10
- **Last Updated**: 2023-06-06

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# planning-and-control-for-center

## 前言：文件夹结构
1. 每一个文件夹包含一个能直接启动的程序（例如ros节点、python脚本），上传之前需要先进行测试，如果有多个launch文件，可以在文件夹根目录创建一个README.md文件 
例如你所创建的文件夹为`Traditional_local_planner`，那就在`Traditional_local_planner`文件夹下新建一个README.md文件，写上各个launch文件的大致功能  


## 1. Pre-requisites
- [OMPL](https://ompl.kavrakilab.org/installation.html)
- ROS Navigation Stack
```
sudo apt install ros-noetic-joint-state-publisher-gui
sudo apt install ros-noetic-ros-control
sudo apt install ros-noetic-ros-controllers
sudo apt install ros-noetic-gmapping
sudo apt install ros-noetic-ackermann-msgs
sudo apt install ros-noetic-navigation
sudo apt install ros-noetic-teb-local-planner
```
- Build mumps
```
git clone https://github.com/coin-or-tools/ThirdParty-Mumps.git --depth=1
cd ThirdParty-Mumps
./get.Mumps
./configure
make
sudo make install
```
- Build and install IPOPT
```
sudo apt install wget unzip gfortran liblapack-dev patch pkg-config libmetis-dev
wget https://github.com/coin-or/Ipopt/archive/refs/heads/stable/3.14.zip
unzip 3.14.zip && cd Ipopt-stable-3.14/
./configure && make -j4
sudo make install
```
- Build and install CASADi
```
wget https://github.com/casadi/casadi/releases/download/3.5.5/casadi-3.5.5-1.tar.gz
tar -zxvf casadi-3.5.5-1.tar.gz
cd casadi-3.5.5.1
mkdir build && cd build
cmake .. -DWITH_IPOPT=ON -DWITH_EXAMPLES=OFF
make -j4
sudo make install
sudo ldconfig
```
- [Anaconda](https://www.anaconda.com/products/individual)
- Build this project
```
mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src
git clone https://gitee.com/chenhengwei/planning-and-control-for-center.git
conda env create -f environment.yml
conda activate ackermann_base
cd ~/catkin_ws && catkin_make
source ~/catkin_ws/devel/setup.bash
```
## 2.How to use
**Note: The robot can be controlled by keyboard (*wasd*)**
### Open-space Planner:  Hybrid A* Planner + Pure Pursuit Controller
Please launch the following nodes in seperate terminals.
```
roslaunch racebot_gazebo open_space.launch
roslaunch hybrid_astar_planner try_hybrid_astar.launch
roslaunch vehicle_controller try_pos_tracker.launch
```
### Structured-road Planner:  Dynamic Programming + Trajectory Optimization + PID Controller
Please launch the following nodes in seperate terminals.
```
roslaunch racebot_gazebo structured_road.launch
roslaunch cartesian_planner try_cartesian_planner.launch
roslaunch vehicle_controller try_state_tracker.launch
```
### ROS Navigation Stack
- Mapping
```
roslaunch racebot_gazebo gmapping.launch
rosrun map_server map_saver -f mymap 
```
- Navigation
```
roslaunch racebot_gazebo navigation.launch
```
- Navigation & Mapping
```
roslaunch racebot_gazebo slam_navi.launch
```


## 3.Reference

- [Gazebo Simulation](https://blog.csdn.net/qq_48427527?type=blog)
- [ROS Navigation Stack](http://wiki.ros.org/navigation)
- [Hybrid A* Planner](https://github.com/dengpw/hybrid_astar_planner)
- [Trajectory Optimization](https://github.com/libai1943/CartesianPlanner)
- [Pure Pursuit Controller](https://thomasfermi.github.io/Algorithms-for-Automated-Driving/Control/PurePursuit.html)