# dp_planner

**Repository Path**: ma_chen_xiang/dp_planner

## Basic Information

- **Project Name**: dp_planner
- **Description**: deploy Baidu apollo's em planner to ros
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: feature/home_branch
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-03-02
- **Last Updated**: 2024-04-30

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

### 描述
 * @Author: machenxiang mcx1243858461@gmail.com
 * @Date: 2023-03-02 
 * @LastEditors: machenxiang mcx1243858461@gmail.com
 * @Description: 本项目主要是希望移植Apollo EM planner，通过移植掌握dp_path_optimizer和qp_path_optimizer

```
|
|--common                       公用代码
|--config                       配置文件
|--data                         地图信息
|--modules                      Apollo其他模块
|--proto                        Apollo的protobuf
|--src                          planning相关东西（后续挪到module目录下）
```
### 安装依赖项
1. glog
2. gflags
3. Protobuf v3.8.0
4. proj
```
 sudo apt-get install proj-bin
```
### 编译问题
 <font color='red'>  编译问题是和自身电脑环境相关是玄学，自求多福气，等移植完成了，会尝试搭建docker环境 </font>
1. 找不到protobuf相关
```
/home/sda/catkin_ws/src/dp_planner/common/math/../util/string_util.h:30:10: fatal error: google/protobuf/stubs/stringprintf.h: No such file or directory
   30 | #include "google/protobuf/stubs/stringprintf.h"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
```
解决办法 1
```
locate stringprintf.h
然后将对应路径下的stringprintf相关文件移动到/usr/local/include/google/protobuf/stubs/ 路径下
sudo cp stringprintf.* /usr/local/include/google/protobuf/stubs/
```
解决办法 2
```
卸载原有protobuf，重新安装一遍，再重复上面步骤
```
1. glog相关
```
CMakeFiles/dp_planner_node.dir/src/reference_line/reference_line.cc.o: In function `apollo::planning::ReferenceLine::GetDrivingWidth(apollo::planning::SLBoundary const&) const':
reference_line.cc:(.text+0x10eb): undefined reference to `google::InitVLOG3__(google::SiteFlag*, int*, char const*, int)'
CMakeFiles/dp_planner_node.dir/src/reference_line/reference_line.cc.o: In function `apollo::planning::ReferenceLine::HasOverlap(apollo::common::math::Box2d const&) const':
reference_line.cc:(.text+0x81ab): undefined reference to `google::InitVLOG3__(google::SiteFlag*, int*, char const*, int)'
CMakeFiles/dp_planner_node.dir/modules/map/hdmap/hdmap.cc.o: In function `apollo::hdmap::HDMap::LoadMapFromProto(apollo::hdmap::Map const&)':
```
解决办法，修改target_link中glog为glog::glog

1. /home/sda/catkin_ws/src/dp_planner/src/dp_planner/../common/../../common/util/map_util.h:24:10: fatal error: google/protobuf/stubs/map_util.h: No such file or directory
   24 | #include "google/protobuf/stubs/map_util.h"
```
locate map_util.h
cd 上面的path
sudo cp map_util.* /usr/local/include/google/protobuf/stubs/
```