https://github.com/leggedrobotics/se2_navigation

Pure Pursuit Control and SE(2) Planning
https://github.com/leggedrobotics/se2_navigation

approach-pose-planning car car-demo control mobile-robots navigation planning pure-pursuit reeds-shepp ros se2-planning vehicle

Last synced: 6 days ago
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Pure Pursuit Control and SE(2) Planning

• Host: GitHub
• URL: https://github.com/leggedrobotics/se2_navigation
• Owner: leggedrobotics
• License: bsd-3-clause
• Created: 2020-04-14T08:26:30.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2023-03-07T18:06:08.000Z (almost 2 years ago)
• Last Synced: 2024-12-05T01:50:12.161Z (16 days ago)
• Topics: approach-pose-planning, car, car-demo, control, mobile-robots, navigation, planning, pure-pursuit, reeds-shepp, ros, se2-planning, vehicle
• Language: C++
• Homepage:
• Size: 60.3 MB
• Stars: 459
• Watchers: 15
• Forks: 86
• Open Issues: 6
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-robotic-tooling - se2_navigation - Pure pursuit controller and Reeds-Shepp sampling based planner for navigation in SE(2) space. (Planning and Control / Vector Map)

README

        
# Planning and control for car-like vehicles

## Overview

Pure pursuit controller and Reeds-Shepp sampling based planner for navigation in SE(2) space. This package has been

mainly intended for car-like vehicles, although it can be used with mobile bases too.

How is this package different from other SE(2) planning/control packages?

* Provides planning and control for car like vehicles which are non-holonomic

* Correctly handles both forward and reverse driving

* Allows joint path and approach pose planning when we only know approximate target location

* Comes with a minimal set of dependencies

* Core algorithmics is separated from ros dependent code

* Tested on real-hardware

* Comes with a car example

* Integrated with [grid_map](https://github.com/ANYbotics/grid_map) package

* Features visualizatios and rviz planning interface

* Easily extensible

* Supports dynamic reconfigure for controller tuning

**Warning:** At the moment, this planning and control framework uses geometric planners which makes it unsuitable for

high-speed driving. It is meant to be used for slow maneuvers, e.g. parking maneuvers.

Released under [BSD 3-Clause license](LICENSE).

**Author:** Edo Jelavic

**Maintainer:** Edo Jelavic, [[email protected]]([email protected])

|                               Navigation with prius                               |                           Navigation with Menzi Muck M545                           |

|:---------------------------------------------------------------------------------:|:-----------------------------------------------------------------------------------:| 

| [](car_demo/doc/car.gif) | [](car_demo/doc/m545.gif) |  

|                                      Navigation with Spacebok                                       |

|:---------------------------------------------------------------------------------------------------:|

| [](car_demo/doc/spacebok_nav.gif) |

## Publications

The code inside this repo has been developed as a part of our research on autonomous precision harvesting. The paper can

be found [here](https://arxiv.org/abs/2104.10110). If you are using packages from se2_navigation, please add the

following citation to your publication:

Jelavic, E., Jud, D., Egli, P. and Hutter, M., 2021. Towards Autonomous Robotic Precision Harvesting. arXiv preprint

arXiv:2104.10110.

    @article{jelavic2021towards,  

       title   = {Towards Autonomous Robotic Precision Harvesting},  

       author  = {Jelavic, Edo and Jud, Dominic and Egli, Pascal and Hutter, Marco},  

       journal = {arXiv preprint arXiv:2104.10110},  

       year    = {2021}

    }

## Documentation

This package is split into smaller units each of which features it's own README. Follow these links for more info:

* [car_demo](car_demo/README.md)

* [pure_pursuit_core](pure_pursuit_core/README.md)

* [pure_pursuit_ros](pure_pursuit_ros/README.md)

* [se2_navigation_msgs](se2_navigation_msgs/README.md)

* [se2_planning](se2_planning/README.md)

* [se2_planning_ros](se2_planning_ros/README.md)

* [se2_planning_rviz](se2_planning_rviz/README.md)

* [se2_visualization_ros](se2_visualization_ros/README.md)

* [approch_pose_planner](se2_approach_pose_planning/approach_pose_planner/README.md)

* [approach_pose_planner_ros](se2_approach_pose_planning/approach_pose_planner_ros/README.md)

## Installation

Refer to [car_demo](car_demo/README.md) for the details.

Refer to [approach_pose_planner](se2_approach_pose_planning/approach_pose_planner_ros/README.md) if you are interested

in approach pose planning.

## Usage

Run the main demo with:   

`roslaunch car_demo demo_autonomous.launch`   

See [car_demo](car_demo/README.md) for the details.

## Coming soon

* Mobile base demo