lfmaster/KinodynamicComfortTrajectoryPlanning

Implementation of a paper "Kinodynamic Comfort Trajectory Planning for Car-like Robots" (IROS18)

KinodynamicComfortTrajectoryPlanning

Implementation of a paper "Kinodynamic Comfort Trajectory Planning for Car-like Robots" (IROS18) https://sglab.kaist.ac.kr/KinodynamicComfortPlanning/

Requirements

• Ipopt ( https://projects.coin-or.org/Ipopt )
• V-Rep ( http://www.coppeliarobotics.com/ )
• ROS ( http://www.ros.org/ )
• V-Rep - ROS Interface ( https://github.com/CoppeliaRobotics/v_repExtRosInterface )
• EIGEN ( https://eigen.tuxfamily.org/dox/ )
• Ackermann_msgs ( http://wiki.ros.org/ackermann_msgs )

Tested Environment

• Ubuntu 16.04

• Ipopt 3.12.11

• V-Rep 3.5

• ROS Kinetic

• EIGEN 3

Getting Started

1. Install requirements

   1. Installing the Ipopt by source code is recommended.
   2. Over version 3.5 of V-Rep is recommended.
   3. ROS, EIGEN, Ackermann_msgs can be downloaded by apt-get in Ubuntu.
   4. Build RosInterface and move built library to V-Rep root folder.

2. Install This repository

  cd ~/catkin_ws/src ( your catkin workspace source file folder )
  git clone https://github.com/HeechanShin/KinodynamicComfortTrajectoryPlanning.git
  cd ../
  catkin_make
  source devel/setup.bash

3. Launch V-Rep

  cd ~/vrep ( your V-Rep root )
  ./vrep.sh

open included test scene, which is in the scene folder and start simulation.

4. Launch comfort_trajectory_optimizer_node

  rosrun comfort_trajectory_optimizer comfort_trajectory_optimizer_node