Code accompanying the paper: "Visually-guided motion planning for autonomous driving from interactive demonstrations", available at https://www.sciencedirect.com/science/article/pii/S0952197622003323.
The MPCC planner uses the Forces Pro solver (see manual). A license is required to run this solver. To do so follow these steps:
- Obtain a license from the Embotech site
- When your license is approved, assign your license to your computer.
- Download the fingerprinter and run it on your system. Paste the fingerprint into your forces license.
- Download the forces client and extract the files in ~/forces_pro_client/. This path has to be correct for the solver to be found.
Dependencies of the solver are included in a virtual environment. To install, use
cd src/Planner/lmpcc/python_forces_code
source setup_venv.sh
To generate a solver, run
source generate_solver.sh
You should see a solver being created for the "Prius" system.
NOTE: It could be the case that your solver needs an update. You will, get a message when running the previous command if this is the case. Update the solver and run the command again.
When the solver is generated you may build the planner using catkin build.