Hybrid-Astar-Planner

This project hosts trajectory planner based on Hybrid A* for unstructured environment

Documentation

This project consists of several ROS packages, which are:

Part 1: trajectory planner
- mpros_planner: node for trajectory planner
- mpros_algorithm: path planner with Hybrid A* algorithm
- mpros_msgs: trajectory messages for communication between planner and controller
- mpros_navigation_map: preprocessing block, generating different map representations
- mpros_rs_path: Reeds-Shepp path generator
- mpros_smoother: path optimizer with Ceres
- mpros_speed_profile: speed profile generator according to S-Curve
- mpros_utils: utils functions for planner

Dependencies

ROS Noetic
see ROS Noetic Installation

Eigen3, version >= 3.4

Download source code from Eigen Releases
Extract compressed file
Find the path to local eigen like /usr/include/eigen3
Install new Eigen lib by replacing old version

cd eigen-3.4.0
cmake .. -DCMAKE_INSTALL_PREFIX=/usr # to replace eigen 3 in /usr/include/eigen3

check installation by

std::cout << EIGEN_WORLD_VERSION << "."
          << EIGEN_MAJOR_VERSION << "."
          << EIGEN_MINOR_VERSION << std::endl;

OMPL
- see OMPL Installation, recommend installation with ROS as shown below
- Installation with ROS as follows
```
sudo apt-get update
sudo apt-get install ros-noetic-ompl
```
CERES
- follow the Ceres Installation

Usage - To be tested due to removed simulation environment

Clone all mpros package to your workspace which is shown below as catkin_ws:

cd ~/catkin_ws/src
# clone this repo to local
git clone git@github.com:Runningchauncey/Hybrid-Astar-Planner.git
# make the workspace
cd ~/catkin_ws
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash
# launch the simulation environment
roslaunch mpros_planner vehicle_test.launch case:=0
# run planner node in another terminal
source devel/setup.bash
rosrun mpros_planner main_planner

Set up initial pose and goal pose in Rviz with 2D Pose Estimate and 2D Nav Goal by press the button, click a position and drag the arrow to set orientation

Configure

The packages mpros_algorithm, mpros_navigation_map, mpros_rs_path, mpros_smoother, mpros_speed_profile are configurable by load parameter file in .yaml format
Parameter explanation see README in each package
Configuration files under mpros_planner/config
Load a configuration file while simulation environment on by
```
rosparam load /path/to/file
```

Test cases

All test cases can be load by change the case number when launch simulation environment.

0: reverse parking
1: parallel parking
2: Arena part
3: Arena whole map
4: slalom map
5: parking lot

TODO

Custom simulation environment
Dubins Curve generation

Forrest-Z / Hybrid-Astar-Planner-1