/TebNoRos

用于存储无ROS的TEB算法

Primary LanguageC++

TebNoRos

用于存储无ROS的TEB算法

INtroduction

参考了网络上的非ROS版的资料，但是均需要些改动才能正常运行，注意的是g2o的版本需要2020年4月份的版本

## Dependence

  • C++17 compiler (tested on gcc 9.1 and gcc 13.2)
  • yaml-cpp (0.7.0)
  • Eigen3 3.4
  • Boost 1.81
  • g2o (2020-04 version important!)
  • ceres-solver 2.1.0
  • OPENCV (4.8.0)

My operating system is 16.04.

How to use

mkdir build
cd build
cmake ..
make -j16
./teb

All configurations are in the file config.yaml

  • If compile reports a lot errors because of g2o then you need check your g2o version and if cmake find the g2o correctly.
  • If opencv throw error that cannot use createButton then you can set show_button : false in file config.yaml.

If you have other problems, check out your libs version.

Development

  • Remove ros dependence and framework.

  • Add opencv displaying.

  • Replace g2o with ceres-solver. (Only support single_path and add partial redisual.)

  • Support multi-path optimization with ceres-solver.

Reference

Paper:

Code :

https://github.com/rst-tu-dortmund/teb_local_planner

https://github.com/linyicheng1/teb_local_planner