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Repository Summary
| Description | |
| Checkout URI | https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-05 |
| 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 |
|---|---|
| carla_ackermann_msgs | 1.0.0 |
| carla_ad_agent | 0.0.1 |
| carla_ad_agent_cpp | 0.0.0 |
| carla_ad_demo | 0.0.1 |
| carla_common | 0.0.1 |
| carla_manual_control | 0.0.0 |
| carla_msgs | 1.3.0 |
| carla_ros_bridge | 0.0.1 |
| carla_ros_scenario_runner | 0.0.0 |
| carla_ros_scenario_runner_types | 0.1.0 |
| carla_spawn_objects | 0.0.0 |
| carla_twist_to_control | 0.0.0 |
| carla_walker_agent | 0.0.1 |
| carla_waypoint_publisher | 0.0.0 |
| carla_waypoint_types | 0.1.0 |
| controller_modules | 0.0.0 |
| general_modules | 0.0.0 |
| main_function | 0.0.0 |
| planner_modules | 0.0.0 |
| ros_compatibility | 0.0.0 |
| my_pnc | 0.0.0 |
| pnc_msgs | 0.0.0 |
README
简介
使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新
软件配置
Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间
算法实现
控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP
使用方法
我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py
视频展示
https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a
CONTRIBUTING
No CONTRIBUTING.md found.
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