Carla_optimal_frenet_planning

Optimal frenet path planning
PID controller considering curvature and expected path
Additional Obstacle detection using 2 algorithms Multi-Object-Tracking, Patchwork for lidar.

Final implementation : https://www.youtube.com/watch?v=zuEOWpu27rI

How to run

bash ~/CARLA_0.9.10.1/CarlaUE4.sh
rosrun carla_ad_agent spawn_npc.py
roslaunch carla_ad_demo carla_ad_demo_with_rviz.launch

Additional obstacle Detection

Patchwork : https://github.com/LimHyungTae/patchwork
Multiple-object-tracking-lidar Package : https://github.com/praveen-palanisamy/multiple-object-tracking-lidar

roslaunch patchwork rosbag_kitti.launch
rosrun multi_object_tracking_lidar kf_tracker filtered_cloud:=/benchmark/N

Reference