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planning-and-control-based-on-carla-and-ros2 repository

carla_ackermann_msgs carla_ad_agent carla_ad_agent_cpp 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 controller_modules general_modules main_function planner_modules ros_compatibility my_pnc pnc_msgs

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-07-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_agent_cpp 0.0.0
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
controller_modules 0.0.0
general_modules 0.0.0
main_function 0.0.0
planner_modules 0.0.0
ros_compatibility 0.0.0
my_pnc 0.0.0
pnc_msgs 0.0.0

README

简介

使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新

软件配置

Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间

算法实现

控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP

使用方法

我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py

视频展示

https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a

CONTRIBUTING

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

planning-and-control-based-on-carla-and-ros2 repository

carla_ackermann_msgs carla_ad_agent carla_ad_agent_cpp 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 controller_modules general_modules main_function planner_modules ros_compatibility my_pnc pnc_msgs

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-07-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_agent_cpp 0.0.0
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
controller_modules 0.0.0
general_modules 0.0.0
main_function 0.0.0
planner_modules 0.0.0
ros_compatibility 0.0.0
my_pnc 0.0.0
pnc_msgs 0.0.0

README

简介

使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新

软件配置

Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间

算法实现

控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP

使用方法

我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py

视频展示

https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a

CONTRIBUTING

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

planning-and-control-based-on-carla-and-ros2 repository

carla_ackermann_msgs carla_ad_agent carla_ad_agent_cpp 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 controller_modules general_modules main_function planner_modules ros_compatibility my_pnc pnc_msgs

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-07-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_agent_cpp 0.0.0
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
controller_modules 0.0.0
general_modules 0.0.0
main_function 0.0.0
planner_modules 0.0.0
ros_compatibility 0.0.0
my_pnc 0.0.0
pnc_msgs 0.0.0

README

简介

使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新

软件配置

Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间

算法实现

控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP

使用方法

我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py

视频展示

https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a

CONTRIBUTING

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

planning-and-control-based-on-carla-and-ros2 repository

carla_ackermann_msgs carla_ad_agent carla_ad_agent_cpp 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 controller_modules general_modules main_function planner_modules ros_compatibility my_pnc pnc_msgs

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-07-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_agent_cpp 0.0.0
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
controller_modules 0.0.0
general_modules 0.0.0
main_function 0.0.0
planner_modules 0.0.0
ros_compatibility 0.0.0
my_pnc 0.0.0
pnc_msgs 0.0.0

README

简介

使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新

软件配置

Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间

算法实现

控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP

使用方法

我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py

视频展示

https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a

CONTRIBUTING

Repo symbol

planning-and-control-based-on-carla-and-ros2 repository

carla_ackermann_msgs carla_ad_agent carla_ad_agent_cpp 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 controller_modules general_modules main_function planner_modules ros_compatibility my_pnc pnc_msgs

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-07-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_agent_cpp 0.0.0
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
controller_modules 0.0.0
general_modules 0.0.0
main_function 0.0.0
planner_modules 0.0.0
ros_compatibility 0.0.0
my_pnc 0.0.0
pnc_msgs 0.0.0

README

简介

使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新

软件配置

Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间

算法实现

控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP

使用方法

我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py

视频展示

https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a

CONTRIBUTING

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

planning-and-control-based-on-carla-and-ros2 repository

carla_ackermann_msgs carla_ad_agent carla_ad_agent_cpp 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 controller_modules general_modules main_function planner_modules ros_compatibility my_pnc pnc_msgs

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-07-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_agent_cpp 0.0.0
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
controller_modules 0.0.0
general_modules 0.0.0
main_function 0.0.0
planner_modules 0.0.0
ros_compatibility 0.0.0
my_pnc 0.0.0
pnc_msgs 0.0.0

README

简介

使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新

软件配置

Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间

算法实现

控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP

使用方法

我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py

视频展示

https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a

CONTRIBUTING

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

planning-and-control-based-on-carla-and-ros2 repository

carla_ackermann_msgs carla_ad_agent carla_ad_agent_cpp 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 controller_modules general_modules main_function planner_modules ros_compatibility my_pnc pnc_msgs

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-07-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_agent_cpp 0.0.0
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
controller_modules 0.0.0
general_modules 0.0.0
main_function 0.0.0
planner_modules 0.0.0
ros_compatibility 0.0.0
my_pnc 0.0.0
pnc_msgs 0.0.0

README

简介

使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新

软件配置

Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间

算法实现

控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP

使用方法

我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py

视频展示

https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a

CONTRIBUTING

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

planning-and-control-based-on-carla-and-ros2 repository

carla_ackermann_msgs carla_ad_agent carla_ad_agent_cpp 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 controller_modules general_modules main_function planner_modules ros_compatibility my_pnc pnc_msgs

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-07-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_agent_cpp 0.0.0
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
controller_modules 0.0.0
general_modules 0.0.0
main_function 0.0.0
planner_modules 0.0.0
ros_compatibility 0.0.0
my_pnc 0.0.0
pnc_msgs 0.0.0

README

简介

使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新

软件配置

Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间

算法实现

控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP

使用方法

我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py

视频展示

https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a

CONTRIBUTING

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Repo symbol

planning-and-control-based-on-carla-and-ros2 repository

carla_ackermann_msgs carla_ad_agent carla_ad_agent_cpp 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 controller_modules general_modules main_function planner_modules ros_compatibility my_pnc pnc_msgs

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/gogogo13579/planning-and-control-based-on-carla-and-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-07-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
carla_ackermann_msgs 1.0.0
carla_ad_agent 0.0.1
carla_ad_agent_cpp 0.0.0
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
controller_modules 0.0.0
general_modules 0.0.0
main_function 0.0.0
planner_modules 0.0.0
ros_compatibility 0.0.0
my_pnc 0.0.0
pnc_msgs 0.0.0

README

简介

使用Carla和ros2使用C++复现了B站up主忠厚老实的老王的规控教程，供朋友们参考。 initial_version是初代版本,之后的规控算法在plus_version里更新

软件配置

Ubuntu20.04（用的WSL2）
ros2-foxy
Carla-0.9.13
osqp0.6.3
osqp-eigen0.8.0
matplot++最新版就可以,这个和其他是独立的，没啥依赖关系
这些配置都是安装Carla-ros-bridge时候官方要求的配置，我这里是推荐大家直接使用这一套的，不然会出现各种各样的问题，很浪费时间

算法实现

控制算法：纵向串级PID，横向LQR，横纵向MPC 规划算法：参考线平滑，路径DP+QP，速度DP+QP

使用方法

我写的源代码在my_planning_and_control这个文件夹里，如果想对算法做出修改，也是改这个文件夹。
运行案列我是借助的carla_ad_demo(这是carla-ros-bridge里自带的案例)，在它的场景里运行自己规控算法，并没有自己写场景。
运行指令为
colcon build
. install/setup.bash
ros2 launch carla_ad_demo carla_ad_demo.launch.py

视频展示

https://www.bilibili.com/video/BV1bT421e7CM/?share_source=copy_web&vd_source=c6672cbc9ac3f70466950e7ef1e8855a

CONTRIBUTING