Planning and control for car-like vehicles
Overview
Pure pursuit controller and Reeds-Shepp sampling based planner for navigation in SE(2) space. This package has been mainly intended for car-like vehicles, although it can be used with mobile bases too.
How is this package different from other SE(2) planning/control packages?
- Provides planning and control for car like vehicles which are non-holonomic
- Correctly handles both forward and reverse driving
- Allows joint path and approach pose planning when we only know approximate target location
- Comes with a minimal set of dependencies
- Core algorithmics is separated from ros dependent code
- Tested on real-hardware
- Comes with a car example
- Integrated with grid_map package
- Features visualizatios and rviz planning interface
- Easily extensible
- Supports dynamic reconfigure for controller tuning
Warning: At the moment, this planning and control framework uses geometric planners which makes it unsuitable for high-speed driving. It is meant to be used for slow maneuvers, e.g. parking maneuvers.
Released under BSD 3-Clause license.
Author: Edo Jelavic
Maintainer: Edo Jelavic, [email protected]
| Navigation with prius | Navigation with Menzi Muck M545 |
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| Navigation with Spacebok |
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Publications
The code inside this repo has been developed as a part of our research on autonomous precision harvesting. The paper can be found here. If you are using packages from se2_navigation, please add the following citation to your publication:
Jelavic, E., Jud, D., Egli, P. and Hutter, M., 2021. Towards Autonomous Robotic Precision Harvesting. arXiv preprint arXiv:2104.10110.
@article{jelavic2021towards,
title = {Towards Autonomous Robotic Precision Harvesting},
author = {Jelavic, Edo and Jud, Dominic and Egli, Pascal and Hutter, Marco},
journal = {arXiv preprint arXiv:2104.10110},
year = {2021}
}
Documentation
This package is split into smaller units each of which features it's own README. Follow these links for more info:
- car_demo
- pure_pursuit_core
- pure_pursuit_ros
- se2_navigation_msgs
- se2_planning
- se2_planning_ros
- se2_planning_rviz
- se2_visualization_ros
- approch_pose_planner
- approach_pose_planner_ros
Installation
Refer to car_demo for the details. Refer to approach_pose_planner if you are interested in approach pose planning.
Usage
Run the main demo with:
roslaunch car_demo demo_autonomous.launch
See car_demo for the details.
Coming soon
- Mobile base demo