FamiliennameistChow / octo_navi

this is a ROS package which enable autonomous movement in off-road environment with RRT and OCTOMAP

octomap_navi

面向非结构化场景下的无人车的自主导航算法

测试环境:

• ubuntu18.04 ros melodic
• ubuntu20.04 ros noetic

功能包介绍

|-- octomap_navi  导航主功能包
|-- scout_description scout小车gazebo模型
|-- scout_gazebo_sim scout小车仿真

安装

• 激光slam算法(二选一)

  • aloam 安装参考 https://github.com/HKUST-Aerial-Robotics/A-LOAM
  • lio-sam 安装参考 https://github.com/TixiaoShan/LIO-SAM

• velodyne

sudo apt-get install ros-melodic-velodyne* 

• octomap

sudo apt-get install ros-melodic-octomap-ros #安装octomap
sudo apt-get install ros-melodic-octomap-msgs
sudo apt-get install ros-melodic-octomap-server
sudo apt-get install ros-melodic-octomap-rviz-plugins

• gtsam

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install

• qpOASES

git clone https://github.com/coin-or/qpOASES.git
mkdir build
cd build
cmake ..
sudo make
sudo make install

使用

cd sh
./path_in_time.sh

• TODO List
  • 实现基于八叉树的rrt前端路径查找
  • 实现八叉树上的通行走廊生成
  • 基于贝塞尔曲线的mini-jerk轨迹优化
  • 优化时间分配问题，提高求解的鲁棒性