autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

Repository Summary

Description autoware src learn and recode.
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
amathutils_lib 1.12.0
autoware_build_flags 1.12.0
autoware_health_checker 1.12.0
emergency_handler 1.12.0
gnss 1.12.0
lanelet2_extension 1.12.0
libvectormap 1.12.0
libwaypoint_follower 1.12.0
map_file 1.12.0
object_map 1.12.0
op_planner 1.12.0
op_ros_helpers 1.12.0
op_simu 1.12.0
op_utility 1.12.0
ros_observer 1.12.0
tvm_utility 0.1.0
vector_map 1.12.0
vector_map_server 1.12.0
vehicle_sim_model 1.13.0
autoware_connector 1.12.0
ekf_localizer 1.12.0
gnss_localizer 1.12.0
image_processor 1.12.0
imm_ukf_pda_track 1.12.0
lidar_apollo_cnn_seg_detect 1.12.0
lidar_euclidean_cluster_detect 1.12.0
lidar_fake_perception 1.12.0
lidar_kf_contour_track 1.12.0
lidar_localizer 1.12.0
lidar_naive_l_shape_detect 1.12.0
lidar_point_pillars 1.12.0
lidar_shape_estimation 1.12.0
naive_motion_predict 1.12.0
ndt_cpu 1.12.0
ndt_gpu 1.12.0
ndt_tku 1.12.0
obj_db 1.12.0
pcl_omp_registration 1.12.0
pixel_cloud_fusion 1.12.0
points_downsampler 1.12.0
points_preprocessor 1.12.0
pos_db 1.12.0
range_vision_fusion 1.12.0
road_occupancy_processor 1.12.0
roi_object_filter 1.12.0
trafficlight_recognizer 1.12.0
twist_generator 1.12.0
vel_pose_diff_checker 1.12.0
vision_beyond_track 1.12.0
vision_darknet_detect 1.12.0
vision_lane_detect 1.12.0
vision_segment_enet_detect 1.12.0
vision_ssd_detect 1.12.0
astar_search 1.12.0
costmap_generator 1.12.0
decision_maker 1.12.0
dp_planner 1.12.0
ff_waypoint_follower 1.12.0
freespace_planner 1.12.0
lane_planner 1.12.0
lattice_planner 1.12.0
ll2_global_planner 0.0.1
mpc_follower 1.12.0
op_global_planner 1.12.0
op_local_planner 1.12.0
op_simulation_package 1.12.0
op_utilities 1.12.0
pure_pursuit 1.12.0
state_machine_lib 1.12.0
twist_filter 1.12.0
twist_gate 1.12.0
way_planner 1.12.0
waypoint_maker 1.12.0
waypoint_planner 1.12.0
autoware_quickstart_examples 1.12.0
autoware_can_msgs 1.14.0
autoware_config_msgs 1.14.0
autoware_external_msgs 1.14.0
autoware_lanelet2_msgs 1.14.0
autoware_map_msgs 1.14.0
autoware_msgs 1.14.0
autoware_system_msgs 1.14.0
tablet_socket_msgs 1.14.0
vector_map_msgs 1.14.0
carla_autoware_bridge 0.0.0
gazebo_camera_description 1.12.0
gazebo_imu_description 1.12.0
lgsvl_simulator_bridge 1.12.0
vehicle_gazebo_simulation_interface 1.12.0
vehicle_gazebo_simulation_launcher 1.12.0
wf_simulator 1.12.0
autoware_bag_tools 1.12.0
autoware_camera_lidar_calibrator 1.12.0
autoware_launcher 1.12.0
autoware_launcher_rviz 1.12.0
calibration_publisher 1.12.0
data_preprocessor 1.12.0
graph_tools 1.12.0
kitti_box_publisher 1.12.0
kitti_launch 1.12.0
kitti_player 1.12.0
lanelet_aisan_converter 0.1.0
log_tools 1.12.0
map_tf_generator 1.12.0
map_tools 1.12.0
marker_downsampler 1.12.0
mqtt_socket 1.12.0
multi_lidar_calibrator 1.12.0
oculus_socket 1.12.0
pc2_downsampler 1.12.0
rosbag_controller 1.12.0
runtime_manager 1.12.0
sound_player 1.12.0
system_monitor 1.13.0
tablet_socket 1.12.0
twist2odom 1.12.0
udon_socket 1.12.0
vehicle_engage_panel 1.12.0
vehicle_socket 1.12.0
decision_maker_panel 1.12.0
detected_objects_visualizer 1.12.0
fastvirtualscan 1.12.0
gazebo_world_description 1.12.0
glviewer 1.12.0
integrated_viewer 1.12.0
points2image 1.12.0
rosinterface 1.12.0
autoware_rviz_plugins 1.12.0
vehicle_description 1.12.0
vehicle_model 1.12.0
adi_driver 1.12.0
as 1.12.0
autoware_driveworks_gmsl_interface 1.12.0
autoware_driveworks_interface 1.12.0
vlg22c_cam 1.12.0
custom_msgs 1.12.0
garmin 1.12.0
hokuyo 1.12.0
javad_navsat_driver 1.12.0
kvaser 1.12.0
sick_lms5xx 1.12.0
memsic_imu 1.12.0
microstrain_driver 1.12.0
nmea_navsat 1.12.0
autoware_pointgrey_drivers 1.12.0
sick_ldmrs_description 1.12.0
sick_ldmrs_driver 1.12.0
sick_ldmrs_laser 1.12.0
sick_ldmrs_msgs 1.12.0
sick_ldmrs_tools 1.12.0
vectacam 1.12.0
xsens_driver 1.12.0
ymc 1.12.0
ds4 0.1.0
ds4_driver 0.1.0
ds4_msgs 0.1.0
lanelet2 1.2.1
lanelet2_core 1.2.1
lanelet2_examples 1.2.1
lanelet2_io 1.2.1
lanelet2_maps 1.2.1
lanelet2_matching 1.2.1
lanelet2_projection 1.2.1
lanelet2_python 1.2.1
lanelet2_routing 1.2.1
lanelet2_traffic_rules 1.2.1
lanelet2_validation 1.2.1
mrt_cmake_modules 1.0.9

README

Autoware.ai v1.14个人维护版本


autoware.ai原始版本已停止维护和更新

展示

bilibili: 聚类 + 循迹 + 避障 + 路线跟踪

Introduction

autoware原始版本已停止维护,autoware团队的开发转向了基于ROS2的autoware.universe系列版本,但是基于ROS1的Autoware仍然有很好的学习意义,但是由于停止维护,相关的资料较少,并且一些不合理的部分需要修改,所以本人fork了原始仓库,根据自己对源码的理解添加注释,并且对一些模块做了优化等。并且在完善各功能的操作方法等。 如果对你有帮助,欢迎star和fork。如果你有好的想法,也欢迎提出PR。

TODO

  • 重规划优化

LIST

  • op_simulation_package 模拟了聚类对象,加了噪点。这部分代码可以用在雷达获取的信息利用部分
  • open planner 的思想可以借鉴
  • 状态机部分注意扩展性
  • 暂未发现障碍物膨胀的参数(也许在costmap_generate),或许可以通过修改车辆的宽度信息而修改A star的搜索
  • costmap生成的膨胀,预测占据的框格,A star的启发式函数修改
  • 聚类+预测需要打开的选项compare_map_filter,lidar_euclidean_cluster_dectect,imm_ukf_pda_track,naive_motion_predict

warning

gitlab的并不是最新版,github存档的单独仓库才是最新版

障碍物聚类二维化

costmap_generator /points_no_ground (sensor_msgs::PointCloud2) : from ray_ground_filter or compare map filter. It contains filtered points with the ground removed.

函数记录

bool AstarAvoid::planAvoidWaypoints(int &end_of_avoid_index)
该C++函数是类AstarAvoid中的一部分,用于规划一条避开障碍物的路径。函数的主要逻辑如下:
初始化标志变量found_path为false
计算离当前全局位姿最近的避障路点索引closest_waypoint_index。
使用循环,以步长search_waypoints_delta_逐步更新目标路点索引(从一个避障路点开始,并加上一个与障碍物相关的偏移量obstacle_waypoint_index_)。
在每次循环内:
更新目标路点索引goal_waypoint_index,并检查是否越界。
根据新的目标路点索引获取目标全局位姿goal_pose_global_。
执行A*搜索,从当前局部位姿到目标局部位姿规划路径,并将结果存储在found_path变量中。
如果找到路径,则发布规划路径到名为“debug”的ROS话题,并更新end_of_avoid_index为当前目标路点索引。
调用mergeAvoidWaypoints函数处理避障路径点。
若处理后的避障路点集合非空,则输出提示信息并返回true,同时重置A*算法状态。
若处理后避障路点集合为空,则恢复found_path为false。
若循环结束后仍未找到路径,则输出错误信息并返回false。
总之,此函数通过迭代方式调用A*算法,在一系列预设的目标路点上寻找可行的避开障碍物的路径,成功找到则返回对应的路点索引和规划路径,并进行后续处理,否则返回未找到路径的信息

search_waypoints_delta_  AstarAvoid类的成员变量,用于设置每次搜索的步长,单位米。

getLocalClosestWaypoint 路线上和车辆距离最小的路点

nmea2kml tool 可以导出数据包中的GPS航点

lanelet_aisan_converter 高精地图转换

log_tool 日志工具

visualization

Packages for Autoware-specific visualisation and linking Autoware to external visualisation projects.

CONTRIBUTING

No CONTRIBUTING.md found.

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository

autoware_learn repository