This package includes a planning algorithm that utilizes lexicographic optimization for solving guided-planning problems.

Install ROS and jackal_velodyne package for a minimum demo. It is strongly recommended that you upgrade your Gazebo to get better simulation performance.

• ROS (tested with Kinetic and Melodic)

  sudo apt-get install -y ros-kinetic-navigation
  

• jackal_velodyne

  sudo apt-get install ros-kinetic-jackal-*
  sudo apt-get install ros-kinetic-velodyne-*
  cd ~/catkin_ws/src
  git clone https://github.com/TixiaoShan/jackal_velodyne.git
  cd ..
  catkin_make
  

• Upgrade Gazebo

  sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
  wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
  sudo apt update
  sudo apt upgrade
  

cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/lexicographic_planning.git
cd ..
catkin_make

Using the following command to start running the package. If this is the first time you run Gazebo on your computer, it may take a while to launch because Gazebo needs to download some resources.

roslaunch lexicographic_planning run.launch

Click 2D Nav Goal in Rviz, then click anywhere in the window. The robot should start following the path.

• The number of costs that are optimized is defined by NUM_COSTS in utility.h.
• The type of costs are defined in edgePropagation() function in pathPlanning.cpp.
• More parameters can be found in params.yaml.

Thank you for citing our paper if you use any of this code.

@inproceedings{shan2020receding,
  title={A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways},
  author={Shan, Tixiao and Wang, Wei and Englot, Brendan and Ratti, Carlo and Rus Daniela},
  booktitle={59th IEEE Conference on Decision and Control (CDC)}
  year={2020},
  organization={IEEE}
}