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autodriving-planning-control-algorithm-simulation-carla repository

carla_l5player_bridge_ego_vis carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_controller_waypoint carla_l5player_mpc_controller carla_l5player_pid_controller carla_l5player_pid_new_controller carla_l5player_stanley_pid_controller carla_l5player_aeb_with_python_script carla_l5player_nop_with_python_script l5player_nop_msgs carla_ackermann_control carla_ackermann_msgs carla_ad_agent carla_ad_demo carla_common carla_manual_control carla_msgs carla_ros_bridge carla_ros_scenario_runner carla_ros_scenario_runner_types carla_spawn_objects carla_twist_to_control carla_walker_agent carla_waypoint_publisher carla_waypoint_types pcl_recorder ros_compatibility rqt_carla_control rviz_carla_plugin

ROS Distro
github

Repository Summary

Description AutoDriving-Planning-Control-Algorithm-Simulation-Carla
Checkout URI https://github.com/l5player/autodriving-planning-control-algorithm-simulation-carla.git
VCS Type git
VCS Version master
Last Updated 2023-09-01
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_l5player_bridge_ego_vis 0.0.0
carla_l5player_lqr_pid_controller 0.0.0
carla_l5player_lqr_pid_controller_waypoint 0.0.0
carla_l5player_mpc_controller 0.0.0
carla_l5player_pid_controller 0.0.0
carla_l5player_pid_new_controller 0.0.0
carla_l5player_stanley_pid_controller 0.0.0
carla_l5player_aeb_with_python_script 0.0.0
carla_l5player_nop_with_python_script 0.0.0
l5player_nop_msgs 0.0.0
carla_ackermann_control 0.0.0
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_demo 0.0.1
carla_common 0.0.1
carla_manual_control 0.0.0
carla_msgs 1.3.0
carla_ros_bridge 0.0.1
carla_ros_scenario_runner 0.0.0
carla_ros_scenario_runner_types 0.1.0
carla_spawn_objects 0.0.0
carla_twist_to_control 0.0.0
carla_walker_agent 0.0.1
carla_waypoint_publisher 0.0.0
carla_waypoint_types 0.1.0
pcl_recorder 0.0.0
ros_compatibility 0.0.0
rqt_carla_control 0.0.0
rviz_carla_plugin 0.0.1

README

欢迎仪式

欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：

  1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
  2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
  3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
  4. 文章、算法、理论、书籍分享；
  5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla


博客地址

想要一起学习的伙伴，请关注我的CSDN、b站、知乎、公众号：自动驾驶Player(L5Player)
CSDN有系列专栏可以订阅
CSDN地址: https://blog.csdn.net/nn243823163/category_11685852.html?spm=1001.2014.3001.5482
知乎地址：https://www.zhihu.com/people/L5Player



首先启动Crla仿真器

  1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia

    carla

NOP function scenario design and control

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. python vehicle_gallery_aeb.py
  4. ros2 run carla_l5player_nop_with_python_script carla_l5player_nop_with_python_script_node
  5. 同时启动rviz: ros2 launch carla_l5player_nop_with_python_script nop_launch.py
  6. build: colcon build –packages-select carla_l5player_nop_with_python_script

AEB function scenario design and control

  1. 通过python api设计AEB场景并实现功能
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. python vehicle_gallery_aeb.py
  5. ros2 run carla_l5player_aeb_with_python_script carla_l5player_aeb_with_python_script_node

LQR PID Controller with Waypoint

  1. 通过Waypoint Publisher发布轨迹并进行跟随
  2. source source_env.sh
  3. ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
  4. ros2 launch carla_l5player_lqr_pid_controller_waypoint lqr_launch.py
  5. ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

NEW PID 模块启动流程

  1. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
  5. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

PID 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

Stanley 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

LQR 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

MPC 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

场景仿真器启动

首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录

  1. source source_env.sh
  2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

autodriving-planning-control-algorithm-simulation-carla repository

carla_l5player_bridge_ego_vis carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_controller_waypoint carla_l5player_mpc_controller carla_l5player_pid_controller carla_l5player_pid_new_controller carla_l5player_stanley_pid_controller carla_l5player_aeb_with_python_script carla_l5player_nop_with_python_script l5player_nop_msgs carla_ackermann_control carla_ackermann_msgs carla_ad_agent carla_ad_demo carla_common carla_manual_control carla_msgs carla_ros_bridge carla_ros_scenario_runner carla_ros_scenario_runner_types carla_spawn_objects carla_twist_to_control carla_walker_agent carla_waypoint_publisher carla_waypoint_types pcl_recorder ros_compatibility rqt_carla_control rviz_carla_plugin

ROS Distro
github

Repository Summary

Description AutoDriving-Planning-Control-Algorithm-Simulation-Carla
Checkout URI https://github.com/l5player/autodriving-planning-control-algorithm-simulation-carla.git
VCS Type git
VCS Version master
Last Updated 2023-09-01
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_l5player_bridge_ego_vis 0.0.0
carla_l5player_lqr_pid_controller 0.0.0
carla_l5player_lqr_pid_controller_waypoint 0.0.0
carla_l5player_mpc_controller 0.0.0
carla_l5player_pid_controller 0.0.0
carla_l5player_pid_new_controller 0.0.0
carla_l5player_stanley_pid_controller 0.0.0
carla_l5player_aeb_with_python_script 0.0.0
carla_l5player_nop_with_python_script 0.0.0
l5player_nop_msgs 0.0.0
carla_ackermann_control 0.0.0
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_demo 0.0.1
carla_common 0.0.1
carla_manual_control 0.0.0
carla_msgs 1.3.0
carla_ros_bridge 0.0.1
carla_ros_scenario_runner 0.0.0
carla_ros_scenario_runner_types 0.1.0
carla_spawn_objects 0.0.0
carla_twist_to_control 0.0.0
carla_walker_agent 0.0.1
carla_waypoint_publisher 0.0.0
carla_waypoint_types 0.1.0
pcl_recorder 0.0.0
ros_compatibility 0.0.0
rqt_carla_control 0.0.0
rviz_carla_plugin 0.0.1

README

欢迎仪式

欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：

  1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
  2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
  3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
  4. 文章、算法、理论、书籍分享；
  5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla


博客地址

想要一起学习的伙伴，请关注我的CSDN、b站、知乎、公众号：自动驾驶Player(L5Player)
CSDN有系列专栏可以订阅
CSDN地址: https://blog.csdn.net/nn243823163/category_11685852.html?spm=1001.2014.3001.5482
知乎地址：https://www.zhihu.com/people/L5Player



首先启动Crla仿真器

  1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia

    carla

NOP function scenario design and control

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. python vehicle_gallery_aeb.py
  4. ros2 run carla_l5player_nop_with_python_script carla_l5player_nop_with_python_script_node
  5. 同时启动rviz: ros2 launch carla_l5player_nop_with_python_script nop_launch.py
  6. build: colcon build –packages-select carla_l5player_nop_with_python_script

AEB function scenario design and control

  1. 通过python api设计AEB场景并实现功能
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. python vehicle_gallery_aeb.py
  5. ros2 run carla_l5player_aeb_with_python_script carla_l5player_aeb_with_python_script_node

LQR PID Controller with Waypoint

  1. 通过Waypoint Publisher发布轨迹并进行跟随
  2. source source_env.sh
  3. ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
  4. ros2 launch carla_l5player_lqr_pid_controller_waypoint lqr_launch.py
  5. ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

NEW PID 模块启动流程

  1. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
  5. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

PID 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

Stanley 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

LQR 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

MPC 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

场景仿真器启动

首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录

  1. source source_env.sh
  2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

autodriving-planning-control-algorithm-simulation-carla repository

carla_l5player_bridge_ego_vis carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_controller_waypoint carla_l5player_mpc_controller carla_l5player_pid_controller carla_l5player_pid_new_controller carla_l5player_stanley_pid_controller carla_l5player_aeb_with_python_script carla_l5player_nop_with_python_script l5player_nop_msgs carla_ackermann_control carla_ackermann_msgs carla_ad_agent carla_ad_demo carla_common carla_manual_control carla_msgs carla_ros_bridge carla_ros_scenario_runner carla_ros_scenario_runner_types carla_spawn_objects carla_twist_to_control carla_walker_agent carla_waypoint_publisher carla_waypoint_types pcl_recorder ros_compatibility rqt_carla_control rviz_carla_plugin

ROS Distro
github

Repository Summary

Description AutoDriving-Planning-Control-Algorithm-Simulation-Carla
Checkout URI https://github.com/l5player/autodriving-planning-control-algorithm-simulation-carla.git
VCS Type git
VCS Version master
Last Updated 2023-09-01
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_l5player_bridge_ego_vis 0.0.0
carla_l5player_lqr_pid_controller 0.0.0
carla_l5player_lqr_pid_controller_waypoint 0.0.0
carla_l5player_mpc_controller 0.0.0
carla_l5player_pid_controller 0.0.0
carla_l5player_pid_new_controller 0.0.0
carla_l5player_stanley_pid_controller 0.0.0
carla_l5player_aeb_with_python_script 0.0.0
carla_l5player_nop_with_python_script 0.0.0
l5player_nop_msgs 0.0.0
carla_ackermann_control 0.0.0
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_demo 0.0.1
carla_common 0.0.1
carla_manual_control 0.0.0
carla_msgs 1.3.0
carla_ros_bridge 0.0.1
carla_ros_scenario_runner 0.0.0
carla_ros_scenario_runner_types 0.1.0
carla_spawn_objects 0.0.0
carla_twist_to_control 0.0.0
carla_walker_agent 0.0.1
carla_waypoint_publisher 0.0.0
carla_waypoint_types 0.1.0
pcl_recorder 0.0.0
ros_compatibility 0.0.0
rqt_carla_control 0.0.0
rviz_carla_plugin 0.0.1

README

欢迎仪式

欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：

  1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
  2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
  3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
  4. 文章、算法、理论、书籍分享；
  5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla


博客地址

想要一起学习的伙伴，请关注我的CSDN、b站、知乎、公众号：自动驾驶Player(L5Player)
CSDN有系列专栏可以订阅
CSDN地址: https://blog.csdn.net/nn243823163/category_11685852.html?spm=1001.2014.3001.5482
知乎地址：https://www.zhihu.com/people/L5Player



首先启动Crla仿真器

  1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia

    carla

NOP function scenario design and control

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. python vehicle_gallery_aeb.py
  4. ros2 run carla_l5player_nop_with_python_script carla_l5player_nop_with_python_script_node
  5. 同时启动rviz: ros2 launch carla_l5player_nop_with_python_script nop_launch.py
  6. build: colcon build –packages-select carla_l5player_nop_with_python_script

AEB function scenario design and control

  1. 通过python api设计AEB场景并实现功能
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. python vehicle_gallery_aeb.py
  5. ros2 run carla_l5player_aeb_with_python_script carla_l5player_aeb_with_python_script_node

LQR PID Controller with Waypoint

  1. 通过Waypoint Publisher发布轨迹并进行跟随
  2. source source_env.sh
  3. ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
  4. ros2 launch carla_l5player_lqr_pid_controller_waypoint lqr_launch.py
  5. ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

NEW PID 模块启动流程

  1. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
  5. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

PID 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

Stanley 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

LQR 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

MPC 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

场景仿真器启动

首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录

  1. source source_env.sh
  2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

autodriving-planning-control-algorithm-simulation-carla repository

carla_l5player_bridge_ego_vis carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_controller_waypoint carla_l5player_mpc_controller carla_l5player_pid_controller carla_l5player_pid_new_controller carla_l5player_stanley_pid_controller carla_l5player_aeb_with_python_script carla_l5player_nop_with_python_script l5player_nop_msgs carla_ackermann_control carla_ackermann_msgs carla_ad_agent carla_ad_demo carla_common carla_manual_control carla_msgs carla_ros_bridge carla_ros_scenario_runner carla_ros_scenario_runner_types carla_spawn_objects carla_twist_to_control carla_walker_agent carla_waypoint_publisher carla_waypoint_types pcl_recorder ros_compatibility rqt_carla_control rviz_carla_plugin

ROS Distro
github

Repository Summary

Description AutoDriving-Planning-Control-Algorithm-Simulation-Carla
Checkout URI https://github.com/l5player/autodriving-planning-control-algorithm-simulation-carla.git
VCS Type git
VCS Version master
Last Updated 2023-09-01
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_l5player_bridge_ego_vis 0.0.0
carla_l5player_lqr_pid_controller 0.0.0
carla_l5player_lqr_pid_controller_waypoint 0.0.0
carla_l5player_mpc_controller 0.0.0
carla_l5player_pid_controller 0.0.0
carla_l5player_pid_new_controller 0.0.0
carla_l5player_stanley_pid_controller 0.0.0
carla_l5player_aeb_with_python_script 0.0.0
carla_l5player_nop_with_python_script 0.0.0
l5player_nop_msgs 0.0.0
carla_ackermann_control 0.0.0
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_demo 0.0.1
carla_common 0.0.1
carla_manual_control 0.0.0
carla_msgs 1.3.0
carla_ros_bridge 0.0.1
carla_ros_scenario_runner 0.0.0
carla_ros_scenario_runner_types 0.1.0
carla_spawn_objects 0.0.0
carla_twist_to_control 0.0.0
carla_walker_agent 0.0.1
carla_waypoint_publisher 0.0.0
carla_waypoint_types 0.1.0
pcl_recorder 0.0.0
ros_compatibility 0.0.0
rqt_carla_control 0.0.0
rviz_carla_plugin 0.0.1

README

欢迎仪式

欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：

  1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
  2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
  3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
  4. 文章、算法、理论、书籍分享；
  5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla


博客地址

想要一起学习的伙伴，请关注我的CSDN、b站、知乎、公众号：自动驾驶Player(L5Player)
CSDN有系列专栏可以订阅
CSDN地址: https://blog.csdn.net/nn243823163/category_11685852.html?spm=1001.2014.3001.5482
知乎地址：https://www.zhihu.com/people/L5Player



首先启动Crla仿真器

  1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia

    carla

NOP function scenario design and control

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. python vehicle_gallery_aeb.py
  4. ros2 run carla_l5player_nop_with_python_script carla_l5player_nop_with_python_script_node
  5. 同时启动rviz: ros2 launch carla_l5player_nop_with_python_script nop_launch.py
  6. build: colcon build –packages-select carla_l5player_nop_with_python_script

AEB function scenario design and control

  1. 通过python api设计AEB场景并实现功能
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. python vehicle_gallery_aeb.py
  5. ros2 run carla_l5player_aeb_with_python_script carla_l5player_aeb_with_python_script_node

LQR PID Controller with Waypoint

  1. 通过Waypoint Publisher发布轨迹并进行跟随
  2. source source_env.sh
  3. ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
  4. ros2 launch carla_l5player_lqr_pid_controller_waypoint lqr_launch.py
  5. ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

NEW PID 模块启动流程

  1. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
  5. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

PID 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

Stanley 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

LQR 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

MPC 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

场景仿真器启动

首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录

  1. source source_env.sh
  2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

CONTRIBUTING

Repo symbol

autodriving-planning-control-algorithm-simulation-carla repository

carla_l5player_bridge_ego_vis carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_controller_waypoint carla_l5player_mpc_controller carla_l5player_pid_controller carla_l5player_pid_new_controller carla_l5player_stanley_pid_controller carla_l5player_aeb_with_python_script carla_l5player_nop_with_python_script l5player_nop_msgs carla_ackermann_control carla_ackermann_msgs carla_ad_agent carla_ad_demo carla_common carla_manual_control carla_msgs carla_ros_bridge carla_ros_scenario_runner carla_ros_scenario_runner_types carla_spawn_objects carla_twist_to_control carla_walker_agent carla_waypoint_publisher carla_waypoint_types pcl_recorder ros_compatibility rqt_carla_control rviz_carla_plugin

ROS Distro
github

Repository Summary

Description AutoDriving-Planning-Control-Algorithm-Simulation-Carla
Checkout URI https://github.com/l5player/autodriving-planning-control-algorithm-simulation-carla.git
VCS Type git
VCS Version master
Last Updated 2023-09-01
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_l5player_bridge_ego_vis 0.0.0
carla_l5player_lqr_pid_controller 0.0.0
carla_l5player_lqr_pid_controller_waypoint 0.0.0
carla_l5player_mpc_controller 0.0.0
carla_l5player_pid_controller 0.0.0
carla_l5player_pid_new_controller 0.0.0
carla_l5player_stanley_pid_controller 0.0.0
carla_l5player_aeb_with_python_script 0.0.0
carla_l5player_nop_with_python_script 0.0.0
l5player_nop_msgs 0.0.0
carla_ackermann_control 0.0.0
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_demo 0.0.1
carla_common 0.0.1
carla_manual_control 0.0.0
carla_msgs 1.3.0
carla_ros_bridge 0.0.1
carla_ros_scenario_runner 0.0.0
carla_ros_scenario_runner_types 0.1.0
carla_spawn_objects 0.0.0
carla_twist_to_control 0.0.0
carla_walker_agent 0.0.1
carla_waypoint_publisher 0.0.0
carla_waypoint_types 0.1.0
pcl_recorder 0.0.0
ros_compatibility 0.0.0
rqt_carla_control 0.0.0
rviz_carla_plugin 0.0.1

README

欢迎仪式

欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：

  1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
  2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
  3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
  4. 文章、算法、理论、书籍分享；
  5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla


博客地址

想要一起学习的伙伴，请关注我的CSDN、b站、知乎、公众号：自动驾驶Player(L5Player)
CSDN有系列专栏可以订阅
CSDN地址: https://blog.csdn.net/nn243823163/category_11685852.html?spm=1001.2014.3001.5482
知乎地址：https://www.zhihu.com/people/L5Player



首先启动Crla仿真器

  1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia

    carla

NOP function scenario design and control

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. python vehicle_gallery_aeb.py
  4. ros2 run carla_l5player_nop_with_python_script carla_l5player_nop_with_python_script_node
  5. 同时启动rviz: ros2 launch carla_l5player_nop_with_python_script nop_launch.py
  6. build: colcon build –packages-select carla_l5player_nop_with_python_script

AEB function scenario design and control

  1. 通过python api设计AEB场景并实现功能
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. python vehicle_gallery_aeb.py
  5. ros2 run carla_l5player_aeb_with_python_script carla_l5player_aeb_with_python_script_node

LQR PID Controller with Waypoint

  1. 通过Waypoint Publisher发布轨迹并进行跟随
  2. source source_env.sh
  3. ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
  4. ros2 launch carla_l5player_lqr_pid_controller_waypoint lqr_launch.py
  5. ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

NEW PID 模块启动流程

  1. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
  5. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

PID 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

Stanley 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

LQR 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

MPC 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

场景仿真器启动

首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录

  1. source source_env.sh
  2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

autodriving-planning-control-algorithm-simulation-carla repository

carla_l5player_bridge_ego_vis carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_controller_waypoint carla_l5player_mpc_controller carla_l5player_pid_controller carla_l5player_pid_new_controller carla_l5player_stanley_pid_controller carla_l5player_aeb_with_python_script carla_l5player_nop_with_python_script l5player_nop_msgs carla_ackermann_control carla_ackermann_msgs carla_ad_agent carla_ad_demo carla_common carla_manual_control carla_msgs carla_ros_bridge carla_ros_scenario_runner carla_ros_scenario_runner_types carla_spawn_objects carla_twist_to_control carla_walker_agent carla_waypoint_publisher carla_waypoint_types pcl_recorder ros_compatibility rqt_carla_control rviz_carla_plugin

ROS Distro
github

Repository Summary

Description AutoDriving-Planning-Control-Algorithm-Simulation-Carla
Checkout URI https://github.com/l5player/autodriving-planning-control-algorithm-simulation-carla.git
VCS Type git
VCS Version master
Last Updated 2023-09-01
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_l5player_bridge_ego_vis 0.0.0
carla_l5player_lqr_pid_controller 0.0.0
carla_l5player_lqr_pid_controller_waypoint 0.0.0
carla_l5player_mpc_controller 0.0.0
carla_l5player_pid_controller 0.0.0
carla_l5player_pid_new_controller 0.0.0
carla_l5player_stanley_pid_controller 0.0.0
carla_l5player_aeb_with_python_script 0.0.0
carla_l5player_nop_with_python_script 0.0.0
l5player_nop_msgs 0.0.0
carla_ackermann_control 0.0.0
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_demo 0.0.1
carla_common 0.0.1
carla_manual_control 0.0.0
carla_msgs 1.3.0
carla_ros_bridge 0.0.1
carla_ros_scenario_runner 0.0.0
carla_ros_scenario_runner_types 0.1.0
carla_spawn_objects 0.0.0
carla_twist_to_control 0.0.0
carla_walker_agent 0.0.1
carla_waypoint_publisher 0.0.0
carla_waypoint_types 0.1.0
pcl_recorder 0.0.0
ros_compatibility 0.0.0
rqt_carla_control 0.0.0
rviz_carla_plugin 0.0.1

README

欢迎仪式

欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：

  1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
  2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
  3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
  4. 文章、算法、理论、书籍分享；
  5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla


博客地址

想要一起学习的伙伴，请关注我的CSDN、b站、知乎、公众号：自动驾驶Player(L5Player)
CSDN有系列专栏可以订阅
CSDN地址: https://blog.csdn.net/nn243823163/category_11685852.html?spm=1001.2014.3001.5482
知乎地址：https://www.zhihu.com/people/L5Player



首先启动Crla仿真器

  1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia

    carla

NOP function scenario design and control

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. python vehicle_gallery_aeb.py
  4. ros2 run carla_l5player_nop_with_python_script carla_l5player_nop_with_python_script_node
  5. 同时启动rviz: ros2 launch carla_l5player_nop_with_python_script nop_launch.py
  6. build: colcon build –packages-select carla_l5player_nop_with_python_script

AEB function scenario design and control

  1. 通过python api设计AEB场景并实现功能
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. python vehicle_gallery_aeb.py
  5. ros2 run carla_l5player_aeb_with_python_script carla_l5player_aeb_with_python_script_node

LQR PID Controller with Waypoint

  1. 通过Waypoint Publisher发布轨迹并进行跟随
  2. source source_env.sh
  3. ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
  4. ros2 launch carla_l5player_lqr_pid_controller_waypoint lqr_launch.py
  5. ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

NEW PID 模块启动流程

  1. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
  5. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

PID 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

Stanley 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

LQR 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

MPC 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

场景仿真器启动

首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录

  1. source source_env.sh
  2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

autodriving-planning-control-algorithm-simulation-carla repository

carla_l5player_bridge_ego_vis carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_controller_waypoint carla_l5player_mpc_controller carla_l5player_pid_controller carla_l5player_pid_new_controller carla_l5player_stanley_pid_controller carla_l5player_aeb_with_python_script carla_l5player_nop_with_python_script l5player_nop_msgs carla_ackermann_control carla_ackermann_msgs carla_ad_agent carla_ad_demo carla_common carla_manual_control carla_msgs carla_ros_bridge carla_ros_scenario_runner carla_ros_scenario_runner_types carla_spawn_objects carla_twist_to_control carla_walker_agent carla_waypoint_publisher carla_waypoint_types pcl_recorder ros_compatibility rqt_carla_control rviz_carla_plugin

ROS Distro
github

Repository Summary

Description AutoDriving-Planning-Control-Algorithm-Simulation-Carla
Checkout URI https://github.com/l5player/autodriving-planning-control-algorithm-simulation-carla.git
VCS Type git
VCS Version master
Last Updated 2023-09-01
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_l5player_bridge_ego_vis 0.0.0
carla_l5player_lqr_pid_controller 0.0.0
carla_l5player_lqr_pid_controller_waypoint 0.0.0
carla_l5player_mpc_controller 0.0.0
carla_l5player_pid_controller 0.0.0
carla_l5player_pid_new_controller 0.0.0
carla_l5player_stanley_pid_controller 0.0.0
carla_l5player_aeb_with_python_script 0.0.0
carla_l5player_nop_with_python_script 0.0.0
l5player_nop_msgs 0.0.0
carla_ackermann_control 0.0.0
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_demo 0.0.1
carla_common 0.0.1
carla_manual_control 0.0.0
carla_msgs 1.3.0
carla_ros_bridge 0.0.1
carla_ros_scenario_runner 0.0.0
carla_ros_scenario_runner_types 0.1.0
carla_spawn_objects 0.0.0
carla_twist_to_control 0.0.0
carla_walker_agent 0.0.1
carla_waypoint_publisher 0.0.0
carla_waypoint_types 0.1.0
pcl_recorder 0.0.0
ros_compatibility 0.0.0
rqt_carla_control 0.0.0
rviz_carla_plugin 0.0.1

README

欢迎仪式

欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：

  1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
  2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
  3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
  4. 文章、算法、理论、书籍分享；
  5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla


博客地址

想要一起学习的伙伴，请关注我的CSDN、b站、知乎、公众号：自动驾驶Player(L5Player)
CSDN有系列专栏可以订阅
CSDN地址: https://blog.csdn.net/nn243823163/category_11685852.html?spm=1001.2014.3001.5482
知乎地址：https://www.zhihu.com/people/L5Player



首先启动Crla仿真器

  1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia

    carla

NOP function scenario design and control

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. python vehicle_gallery_aeb.py
  4. ros2 run carla_l5player_nop_with_python_script carla_l5player_nop_with_python_script_node
  5. 同时启动rviz: ros2 launch carla_l5player_nop_with_python_script nop_launch.py
  6. build: colcon build –packages-select carla_l5player_nop_with_python_script

AEB function scenario design and control

  1. 通过python api设计AEB场景并实现功能
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. python vehicle_gallery_aeb.py
  5. ros2 run carla_l5player_aeb_with_python_script carla_l5player_aeb_with_python_script_node

LQR PID Controller with Waypoint

  1. 通过Waypoint Publisher发布轨迹并进行跟随
  2. source source_env.sh
  3. ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
  4. ros2 launch carla_l5player_lqr_pid_controller_waypoint lqr_launch.py
  5. ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

NEW PID 模块启动流程

  1. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
  5. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

PID 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

Stanley 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

LQR 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

MPC 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

场景仿真器启动

首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录

  1. source source_env.sh
  2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

autodriving-planning-control-algorithm-simulation-carla repository

carla_l5player_bridge_ego_vis carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_controller_waypoint carla_l5player_mpc_controller carla_l5player_pid_controller carla_l5player_pid_new_controller carla_l5player_stanley_pid_controller carla_l5player_aeb_with_python_script carla_l5player_nop_with_python_script l5player_nop_msgs carla_ackermann_control carla_ackermann_msgs carla_ad_agent carla_ad_demo carla_common carla_manual_control carla_msgs carla_ros_bridge carla_ros_scenario_runner carla_ros_scenario_runner_types carla_spawn_objects carla_twist_to_control carla_walker_agent carla_waypoint_publisher carla_waypoint_types pcl_recorder ros_compatibility rqt_carla_control rviz_carla_plugin

ROS Distro
github

Repository Summary

Description AutoDriving-Planning-Control-Algorithm-Simulation-Carla
Checkout URI https://github.com/l5player/autodriving-planning-control-algorithm-simulation-carla.git
VCS Type git
VCS Version master
Last Updated 2023-09-01
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_l5player_bridge_ego_vis 0.0.0
carla_l5player_lqr_pid_controller 0.0.0
carla_l5player_lqr_pid_controller_waypoint 0.0.0
carla_l5player_mpc_controller 0.0.0
carla_l5player_pid_controller 0.0.0
carla_l5player_pid_new_controller 0.0.0
carla_l5player_stanley_pid_controller 0.0.0
carla_l5player_aeb_with_python_script 0.0.0
carla_l5player_nop_with_python_script 0.0.0
l5player_nop_msgs 0.0.0
carla_ackermann_control 0.0.0
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_demo 0.0.1
carla_common 0.0.1
carla_manual_control 0.0.0
carla_msgs 1.3.0
carla_ros_bridge 0.0.1
carla_ros_scenario_runner 0.0.0
carla_ros_scenario_runner_types 0.1.0
carla_spawn_objects 0.0.0
carla_twist_to_control 0.0.0
carla_walker_agent 0.0.1
carla_waypoint_publisher 0.0.0
carla_waypoint_types 0.1.0
pcl_recorder 0.0.0
ros_compatibility 0.0.0
rqt_carla_control 0.0.0
rviz_carla_plugin 0.0.1

README

欢迎仪式

欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：

  1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
  2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
  3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
  4. 文章、算法、理论、书籍分享；
  5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla


博客地址

想要一起学习的伙伴，请关注我的CSDN、b站、知乎、公众号：自动驾驶Player(L5Player)
CSDN有系列专栏可以订阅
CSDN地址: https://blog.csdn.net/nn243823163/category_11685852.html?spm=1001.2014.3001.5482
知乎地址：https://www.zhihu.com/people/L5Player



首先启动Crla仿真器

  1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia

    carla

NOP function scenario design and control

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. python vehicle_gallery_aeb.py
  4. ros2 run carla_l5player_nop_with_python_script carla_l5player_nop_with_python_script_node
  5. 同时启动rviz: ros2 launch carla_l5player_nop_with_python_script nop_launch.py
  6. build: colcon build –packages-select carla_l5player_nop_with_python_script

AEB function scenario design and control

  1. 通过python api设计AEB场景并实现功能
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. python vehicle_gallery_aeb.py
  5. ros2 run carla_l5player_aeb_with_python_script carla_l5player_aeb_with_python_script_node

LQR PID Controller with Waypoint

  1. 通过Waypoint Publisher发布轨迹并进行跟随
  2. source source_env.sh
  3. ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
  4. ros2 launch carla_l5player_lqr_pid_controller_waypoint lqr_launch.py
  5. ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

NEW PID 模块启动流程

  1. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
  5. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

PID 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

Stanley 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

LQR 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

MPC 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

场景仿真器启动

首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录

  1. source source_env.sh
  2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

CONTRIBUTING

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

autodriving-planning-control-algorithm-simulation-carla repository

carla_l5player_bridge_ego_vis carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_controller_waypoint carla_l5player_mpc_controller carla_l5player_pid_controller carla_l5player_pid_new_controller carla_l5player_stanley_pid_controller carla_l5player_aeb_with_python_script carla_l5player_nop_with_python_script l5player_nop_msgs carla_ackermann_control carla_ackermann_msgs carla_ad_agent carla_ad_demo carla_common carla_manual_control carla_msgs carla_ros_bridge carla_ros_scenario_runner carla_ros_scenario_runner_types carla_spawn_objects carla_twist_to_control carla_walker_agent carla_waypoint_publisher carla_waypoint_types pcl_recorder ros_compatibility rqt_carla_control rviz_carla_plugin

ROS Distro
github

Repository Summary

Description AutoDriving-Planning-Control-Algorithm-Simulation-Carla
Checkout URI https://github.com/l5player/autodriving-planning-control-algorithm-simulation-carla.git
VCS Type git
VCS Version master
Last Updated 2023-09-01
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_l5player_bridge_ego_vis 0.0.0
carla_l5player_lqr_pid_controller 0.0.0
carla_l5player_lqr_pid_controller_waypoint 0.0.0
carla_l5player_mpc_controller 0.0.0
carla_l5player_pid_controller 0.0.0
carla_l5player_pid_new_controller 0.0.0
carla_l5player_stanley_pid_controller 0.0.0
carla_l5player_aeb_with_python_script 0.0.0
carla_l5player_nop_with_python_script 0.0.0
l5player_nop_msgs 0.0.0
carla_ackermann_control 0.0.0
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_demo 0.0.1
carla_common 0.0.1
carla_manual_control 0.0.0
carla_msgs 1.3.0
carla_ros_bridge 0.0.1
carla_ros_scenario_runner 0.0.0
carla_ros_scenario_runner_types 0.1.0
carla_spawn_objects 0.0.0
carla_twist_to_control 0.0.0
carla_walker_agent 0.0.1
carla_waypoint_publisher 0.0.0
carla_waypoint_types 0.1.0
pcl_recorder 0.0.0
ros_compatibility 0.0.0
rqt_carla_control 0.0.0
rviz_carla_plugin 0.0.1

README

欢迎仪式

欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：

  1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
  2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
  3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
  4. 文章、算法、理论、书籍分享；
  5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla


博客地址

想要一起学习的伙伴，请关注我的CSDN、b站、知乎、公众号：自动驾驶Player(L5Player)
CSDN有系列专栏可以订阅
CSDN地址: https://blog.csdn.net/nn243823163/category_11685852.html?spm=1001.2014.3001.5482
知乎地址：https://www.zhihu.com/people/L5Player



首先启动Crla仿真器

  1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia

    carla

NOP function scenario design and control

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. python vehicle_gallery_aeb.py
  4. ros2 run carla_l5player_nop_with_python_script carla_l5player_nop_with_python_script_node
  5. 同时启动rviz: ros2 launch carla_l5player_nop_with_python_script nop_launch.py
  6. build: colcon build –packages-select carla_l5player_nop_with_python_script

AEB function scenario design and control

  1. 通过python api设计AEB场景并实现功能
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. python vehicle_gallery_aeb.py
  5. ros2 run carla_l5player_aeb_with_python_script carla_l5player_aeb_with_python_script_node

LQR PID Controller with Waypoint

  1. 通过Waypoint Publisher发布轨迹并进行跟随
  2. source source_env.sh
  3. ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
  4. ros2 launch carla_l5player_lqr_pid_controller_waypoint lqr_launch.py
  5. ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

NEW PID 模块启动流程

  1. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
  2. source source_env.sh
  3. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  4. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
  5. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

PID 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

Stanley 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

LQR 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

MPC 模块启动流程

  1. source source_env.sh
  2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
  3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

场景仿真器启动

首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录

  1. source source_env.sh
  2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

CONTRIBUTING