About

This repository corresponds to the Path Planning part of an Autonomous Driving System. It uses ROS2 to subscribe to various information from perception and publishes the path and velocity to be followed. Based on the information received from perception, it makes decisions and determines the velocity accordingly. Then, it uses the hybrid A* developed in ROS2 to create the required path. If you're interested in a detailed usage of these algorithms, visit the following repository to test them out.

Requirements

• Ubuntu 20.04

• ROS2 foxy

• matplotlib & numpy

  pip install numpy
  pip install matplotlib

• Eigen

  sudo apt update	
  sudo apt install libeigen3-dev

• Ceres

  sudo apt update
  sudo apt install libeigen3-dev libgoogle-glog-dev libgflags-dev
  sudo apt install libceres-dev

• ompl

  sudo apt install libompl-dev

Usage

If you want to test the algorithms without any additional installations, use the following commands:

git clone https://github.com/SEA-ME-COSS/PathPlanning.git
cd PathPlanning/algorithm
mkdir build && cd build
cmake ..
make
./path_planning

Reference

• Hybrid A Star
• Hybrid A Star Documentation
• ROS2 foxy