Introduction

Based on Apollo platform, this repository simulates Planning, and Controlling on Parking and Cruising (on a reference line) scenarios, communicating with ROS Melodic.

Visualisation

Parking

Cruising

Lattice Planning

QP Planning

Prerequisite

• glog

  cd ~ 
  mkdir Source
  cd Source
  git clone https://github.com/google/glog.git
  sudo apt-get install autoconf automake libtool
  cd glog
  mkdir build
  cmake ..
  make
  sudo make install
  

• protobuf

  cd ~/Source
  sudo apt-get install autoconf automake libtool curl make g++ unzip
  wget  https://github.com/protocolbuffers/protobuf/releases/download/v3.7.1/protobuf-cpp-3.7.1.tar.gz
  tar -xzvf protobuf-cpp-3.7.1.tar.gz
  cd protobuf-3.7.1
  ./autogen.sh
  ./configure
  make
  make check
  sudo make install
  sudo ldconfig
  

• osqp

  cd Source
  git clone --recursive https://github.com/oxfordcontrol/osqp
  cd osqp
  mkdir build && cd build
  cmake -G "Unix Makefiles" ..
  cmake --build .
  sudo make install
  

• unsupported

  move Eigen/unsupported to the include directory of c++.

• numpy

  pip install numpy
  

• matplotlib

  pip install matplotlib
  

Nodes

There are four ROS nodes in total: chassis_node, pc_node, obstacles_service and display.

• Chassis Node

  Simulates a chassis, receives control commands, updates vehicle pose before publishing to the PC node.

• PC Node

  The main node. Subscribes the chassis node, calls obstacles infomation on parking scenario, plans trajectories according to scenarios and computes commands before publishing them chassis node.

• Obstacles Service

  Simulates obstacles for parking scenario. Obstacles are saved in Components/common/config/slot.json instead of being detected synchronously as long as the vehicle moves.

• Display

  Synchronously visualises planned and simulated trajectories.

Quick Start

• Make sure to install all the dependencies.
• Update all the paths in Components/common/config/log_path_conf.h and Components/scripts/obstacles_service.py
• Prepare a recorded trajectory to be the reference line. Each column should be time_stamp, type(this position Must be maintained), x, y, z, qw, qx, qy and qz. The file Must be named as path_*.txt(path_01.txt in the example).
• Compile via catkin_make.
• run dependencies.bash first.
• run launch.bash to choose scenarios.(Please note that if file name is required, just input the suffix, for example "01".)

Difference from Apollo

• Controllers

  • change the way to calculate target points
  • add termination of controllers
  • combine lateral and longitudinal controllers
  • add a pure persuit controller
  • add a feedforward controller

• Planning

  • add B-spline smoother

Cons

• no consideration of re-planning
• no obstacles for lattice planner
• lateral controlling oscillation in LQR controller (possibly caused by latency)