SRai22/selfdriving

Self-driving (autonomous navigation) algorithms for 2D robots/vehicles based on mrpt-nav

selfdriving

Self-driving (autonomous navigation) algorithms for robots/vehicles moving on planar environments. This builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics.

Build requisites

• MRPT (>=2.3.2)
• mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT >=2.3.2, for now from this PPA (or build from sources if preferred):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(selfdriving REQUIRED)
target_link_libraries(YOUR_TARGET selfdriving::selfdriving)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "selfdriving::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

# Holonomic robot:
build-Release/bin/selfdriving-simulator-gui \
  --waypoints share/mvsim-demo-waypoints01.yaml \
  -s share/mvsim-demo.xml \
  -p share/ptgs_holonomic_robot.ini \
  --nav-engine-parameters share/nav-engine-params.yaml \
  --planner-parameters share/mvsim-demo-astar-planner-params.yaml \
  --prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
  --global-costmap-parameters share/costmap-obstacles.yaml \
  --local-costmap-parameters share/costmap-obstacles.yaml \
  -v DEBUG

# Ackermann vehicle:
build-Release/bin/selfdriving-simulator-gui \
  --waypoints share/mvsim-demo-waypoints01.yaml \
  -s share/mvsim-demo.xml \
  -p share/ptgs_ackermann_vehicle.ini \
  --nav-engine-parameters share/nav-engine-params.yaml \
  --planner-parameters share/mvsim-demo-astar-planner-params.yaml \
  --prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
  --global-costmap-parameters share/costmap-obstacles.yaml \
  --local-costmap-parameters share/costmap-obstacles.yaml \
  -v DEBUG