{"id":13716216,"url":"https://github.com/leggedrobotics/se2_navigation","last_synced_at":"2025-04-05T04:13:32.187Z","repository":{"id":38942051,"uuid":"255552281","full_name":"leggedrobotics/se2_navigation","owner":"leggedrobotics","description":"Pure Pursuit Control and SE(2) Planning","archived":false,"fork":false,"pushed_at":"2023-03-07T18:06:08.000Z","size":63220,"stargazers_count":487,"open_issues_count":5,"forks_count":88,"subscribers_count":14,"default_branch":"master","last_synced_at":"2025-03-29T03:09:08.560Z","etag":null,"topics":["approach-pose-planning","car","car-demo","control","mobile-robots","navigation","planning","pure-pursuit","reeds-shepp","ros","se2-planning","vehicle"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leggedrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2020-04-14T08:26:30.000Z","updated_at":"2025-03-28T15:43:10.000Z","dependencies_parsed_at":"2023-01-19T16:47:10.941Z","dependency_job_id":"19dd2956-6548-482e-ae12-2bac461022b2","html_url":"https://github.com/leggedrobotics/se2_navigation","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fse2_navigation","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fse2_navigation/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fse2_navigation/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fse2_navigation/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/se2_navigation/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247284951,"owners_count":20913704,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["approach-pose-planning","car","car-demo","control","mobile-robots","navigation","planning","pure-pursuit","reeds-shepp","ros","se2-planning","vehicle"],"created_at":"2024-08-03T00:01:08.175Z","updated_at":"2025-04-05T04:13:32.168Z","avatar_url":"https://github.com/leggedrobotics.png","language":"C++","funding_links":[],"categories":["Planning and Control"],"sub_categories":["Vector Map"],"readme":"# Planning and control for car-like vehicles\n\n## Overview\n\nPure pursuit controller and Reeds-Shepp sampling based planner for navigation in SE(2) space. This package has been\nmainly intended for car-like vehicles, although it can be used with mobile bases too.\n\nHow is this package different from other SE(2) planning/control packages?\n\n* Provides planning and control for car like vehicles which are non-holonomic\n* Correctly handles both forward and reverse driving\n* Allows joint path and approach pose planning when we only know approximate target location\n* Comes with a minimal set of dependencies\n* Core algorithmics is separated from ros dependent code\n* Tested on real-hardware\n* Comes with a car example\n* Integrated with [grid_map](https://github.com/ANYbotics/grid_map) package\n* Features visualizatios and rviz planning interface\n* Easily extensible\n* Supports dynamic reconfigure for controller tuning\n\n**Warning:** At the moment, this planning and control framework uses geometric planners which makes it unsuitable for\nhigh-speed driving. It is meant to be used for slow maneuvers, e.g. parking maneuvers.\n\nReleased under [BSD 3-Clause license](LICENSE).\n\n**Author:** Edo Jelavic\n\n**Maintainer:** Edo Jelavic, [jelavice@ethz.ch](jelavice@ethz.ch)\n\n|                               Navigation with prius                               |                           Navigation with Menzi Muck M545                           |\n|:---------------------------------------------------------------------------------:|:-----------------------------------------------------------------------------------:| \n| [\u003cimg src=\"car_demo/doc/car.gif\" width=\"340\" height=\"250\"\u003e](car_demo/doc/car.gif) | [\u003cimg src=\"car_demo/doc/m545.gif\" width=\"340\" height=\"250\"\u003e](car_demo/doc/m545.gif) |  \n\n|                                      Navigation with Spacebok                                       |\n|:---------------------------------------------------------------------------------------------------:|\n| [\u003cimg src=\"car_demo/doc/spacebok_nav.gif\" width=\"443\" height=\"250\"\u003e](car_demo/doc/spacebok_nav.gif) |\n\n## Publications\n\nThe code inside this repo has been developed as a part of our research on autonomous precision harvesting. The paper can\nbe found [here](https://arxiv.org/abs/2104.10110). If you are using packages from se2_navigation, please add the\nfollowing citation to your publication:\n\nJelavic, E., Jud, D., Egli, P. and Hutter, M., 2021. Towards Autonomous Robotic Precision Harvesting. arXiv preprint\narXiv:2104.10110.\n\n    @article{jelavic2021towards,  \n       title   = {Towards Autonomous Robotic Precision Harvesting},  \n       author  = {Jelavic, Edo and Jud, Dominic and Egli, Pascal and Hutter, Marco},  \n       journal = {arXiv preprint arXiv:2104.10110},  \n       year    = {2021}\n    }\n\n## Documentation\n\nThis package is split into smaller units each of which features it's own README. Follow these links for more info:\n\n* [car_demo](car_demo/README.md)\n* [pure_pursuit_core](pure_pursuit_core/README.md)\n* [pure_pursuit_ros](pure_pursuit_ros/README.md)\n* [se2_navigation_msgs](se2_navigation_msgs/README.md)\n* [se2_planning](se2_planning/README.md)\n* [se2_planning_ros](se2_planning_ros/README.md)\n* [se2_planning_rviz](se2_planning_rviz/README.md)\n* [se2_visualization_ros](se2_visualization_ros/README.md)\n* [approch_pose_planner](se2_approach_pose_planning/approach_pose_planner/README.md)\n* [approach_pose_planner_ros](se2_approach_pose_planning/approach_pose_planner_ros/README.md)\n\n## Installation\n\nRefer to [car_demo](car_demo/README.md) for the details.\nRefer to [approach_pose_planner](se2_approach_pose_planning/approach_pose_planner_ros/README.md) if you are interested\nin approach pose planning.\n\n## Usage\n\nRun the main demo with:   \n`roslaunch car_demo demo_autonomous.launch`   \nSee [car_demo](car_demo/README.md) for the details.\n\n## Coming soon\n\n* Mobile base demo\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fse2_navigation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Fse2_navigation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fse2_navigation/lists"}