用于存储无ROS的TEB算法
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
- 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.
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 setshow_button : false
in fileconfig.yaml
.
If you have other problems, check out your libs version.
-
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.
Paper:
Code :