Dust

An autonomous vehicle planning and control software's frame used by beihang university.

Planning and Control

An autonomous vehicle planning and control software's frame.

PNC
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About PNC

根据Apollo算法修改的规划控制算法，规划目前支持Lattice，控制支持LQR和pure_pursuit，以后考虑规划加入em planner。
现在的算法框架是基于ROS改写，仿真平台使用国产软件51world。

Data flow

Getting Started

Prerequisites

Alternatively, simply perform the following steps： 在scripts文件夹下执行以下命令。

• ros

  sudo ./install_ros.sh

• ADOLC

  sudo ./install_adolc.sh

• OSQP

  sudo ./install_osqp.sh

• IPOPT

  sudo ./install_ipopt.sh

• qp_oases

  sudo ./install_qp_oases.sh

• YAML

  sudo ./install_yaml.sh

Build And Run PNC

1. 修改yaml文件地址

   YAML::Node config = YAML::LoadFile("/media/navigation/dust/sg/Dust/src/modules/planning/config/configs.yaml");

2. ros build

   catkin build

Run PNC

1. run planning package:

   roslaunch planning planning.launch

2. run control package

   roslaunch control control.launch

3. run pnc package

   roslaunch planning pnc.launch

51world simulation

1. 开发环境

   wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
   sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-6.0 main"
   sudo apt-get update
   # install dependence
   sudo apt-get install uuid-dev libx11-dev libxrandr-dev libsdl2-dev libx11-dev libc++-dev abi++-dev

2. Compile

   Run the following command in the container:

   安装SimOne后，打开SimOneAPI文件夹，进入Tutorial-Build目录；运行rebuild_release.sh，生成可执行文件在SimOneAPI/Tutorial/Build下
   make
   export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/navigation/linux/simone/SimOneAPI_glf/lib/Linux64

3. Run

   在run文件夹中运行.

   ./trans_ros_node

Result

If you successfully built and ran, you should see this in this video:
Demo

License

Distributed under the Apache-2.0 License. See LICENSE.txt for more information.

In addition, We have kept the LICENSE of project PNC in carla_apollo_bridge directory.

Acknowledgments

The co-simulation is modified on the basis of the following, thank you here.

• Apollo

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