lijiangnanbit / path_optimizer Goto Github PK
View Code? Open in Web Editor NEWOptimization-based real-time path planning for vehicles.
License: MIT License
Optimization-based real-time path planning for vehicles.
License: MIT License
Hey there. Nice solution you have here, looks to be working great. I was wondering if you have a paper or some other reference to the algorithms and thinking here? I would like to read through, to better understand how you implemented the code :)
Hello, First of all, sorry for being a beginner. I did install dependencies and build tap as described in the readme. but the third command
sudo bash path_optimizer/scripts/install_deps.sh
After hitting , I got the following error: I ignored it and even tried roslaunch, but the image file was not loaded.
what could i do?
Hi, thank you for sharing the amazing repo.
Here is what I found while trying to run your demo.launch
A trajectory isn't generated after following the guidance in readme.md.
commit: a95f0d0
Nothing has been modified including config file.
CMakeLists.txt:24: error: By not providing "FindIPOPT.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "IPOPT", but CMake did not find one. Could not find a package configuration file provided by "IPOPT" with any of the following names: IPOPTConfig.cmake ipopt-config.cmake Add the installation prefix of "IPOPT" to CMAKE_PREFIX_PATH or set "IPOPT_DIR" to a directory containing one of the above files. If "IPOPT" provides a separate development package or SDK, be sure it has been installed.
rviz 中 MarkArray 会出现 StatusError, 不知道怎么搞
Hi,
I would like to know where do the -cos(theta) and -sin(theta) come from in function setConstraintMatrix (tension_smoother.cpp). Is it related to the frenet coordinates transformation?
If it is possible, is there any material about transforming the reference line smoothing problem to qp form? I want to know how to build the hessian, gradient and constraint matrix from scratch. Thank you.
I am a beginner of ROS. I followed your instruction to build package.
After I input this command, the following error occured.
Could you please give some hints to me. Thanks a lot in advance.
catkin build path_optimizer
--------------------------------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/kinetic::/opt/Qt5.5.1/5.5/gcc_64/lib/cmake:/opt/Qt5.5.1/5.5/gcc_64/lib/cmake
Workspace: /home/rgs/Desktop/1.code/demo/workspace/src/path_optimizer
--------------------------------------------------------------------------------
Build Space: [exists] /home/rgs/Desktop/1.code/demo/workspace/src/path_optimizer/build
Devel Space: [exists] /home/rgs/Desktop/1.code/demo/workspace/src/path_optimizer/devel
Install Space: [unused] /home/rgs/Desktop/1.code/demo/workspace/src/path_optimizer/install
Log Space: [missing] /home/rgs/Desktop/1.code/demo/workspace/src/path_optimizer/logs
Source Space: [exists] /home/rgs/Desktop/1.code/demo/workspace/src/path_optimizer/src
DESTDIR: [unused] None
--------------------------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
--------------------------------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
--------------------------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
--------------------------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------------------------
[build] No packages were found in the source space '/home/rgs/Desktop/1.code/demo/workspace/src/path_optimizer/src'
[build] Given package 'path_optimizer' is not in the workspace
I want to achieve the same effect as the video "Simulation in dynamic environment". How can I use it?
Is there a demo that you can provide?
thank you!
Are there any license terms for using this source code?
I would like to use some of the codes into our projects, and we would like to know whether that is possible or not.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "tinyspline_ros"
with any of the following names:
tinyspline_rosConfig.cmake
tinyspline_ros-config.cmake
Add the installation prefix of "tinyspline_ros" to CMAKE_PREFIX_PATH or set
"tinyspline_ros_DIR" to a directory containing one of the above files. If
"tinyspline_ros" provides a separate development package or SDK, be sure it
has been installed.
Where should I check this question?
Can you write the system transfer equation?
I have confusion when read code in function of setConstraintMatrix
I don't know the rule for choosing infeasible or feasible points in DP process as shown in function 'graphSearchDp(PathOptimizationNS::ReferencePath *)' of file named reference_path_smoother.cpp.
if ((ref_curvature < 0 && cur_l < ref_r) || (ref_curvature > 0 && cur_l > ref_r)
|| dp_point.dis_to_obs_ < search_threshold) {
dp_point.is_feasible_ = false;
}
if (i == 0 && dp_point.lateral_index_ != start_lateral_index) dp_point.is_feasible_ = false;
if (i == 0 && dp_point.lateral_index_ == start_lateral_index) {
dp_point.is_feasible_ = true;
dp_point.dir_ = start_state_.z;
dp_point.cost_ = 0.0;
}
Could you please explain that for me? Thank you so much!!
Hi, i have tested your code with ros kinetic ,but I found some question when I run the demo, the log like this
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0513 08:58:02.135192 11617 tension_smoother.cpp:84] Tension smoother succeeded!
I0513 08:58:02.135460 11617 reference_path_impl.cpp:417] Reference states are built from spline.
[1] 11617 segmentation fault (core dumped) rosrun path_optimizer path_optimizer_benchmark
Then I found some problem with the code :
auto clearance_0 = getClearanceWithDirectionStrict(c0, map);
I wonder if i have some problem with my ros package grip map?
Do you consider using stitch path in optimizer process ? If reference line has changed sharply , such as lane change , it would be uncomfortable
The repo has new smoothing method called tension_smoother_2
.
Possibly the method mentioned in this issue?
Do you have any references(possibly paper?) for the new method?
Have you consider using precise path boundary , using four circles substitute for vehicle body may reduce the solution space ?
I want to ask what the constraints of the objective function are;
Whether both curvature and curvature change can be constrained
目标函数的形式是怎么样的,能否同时约束曲率和曲率变化率
@LiJiangnanBit First, thank you for your good sharing about the Repo. Could you please give some comments for the issue as shown below ? Appreciate for your help.
你好,请问有相关论文和资料吗
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