https://github.com/zju-fast-lab/seb_naver

SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain
https://github.com/zju-fast-lab/seb_naver

Last synced: 11 months ago
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SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain

• Host: GitHub
• URL: https://github.com/zju-fast-lab/seb_naver
• Owner: ZJU-FAST-Lab
• License: gpl-3.0
• Created: 2025-02-25T14:22:35.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2025-03-13T03:57:11.000Z (over 1 year ago)
• Last Synced: 2025-03-13T04:27:47.745Z (over 1 year ago)
• Language: C++
• Size: 14.6 KB
• Stars: 9
• Watchers: 6
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# seb_naver

SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain 

Paper: https://arxiv.org/abs/2503.02412

Video: https://www.bilibili.com/video/BV1yBRpYmEmX/

## Dependence 

### ackermann-msgs

```

sudo apt-get install ros-noetic-ackermann-msgs

```

### casadi

install ipopt first

```bash

git clone https://github.com/casadi/casadi.git

cd casadi 

mkdir build & cd build

cmake .. & make

sudo make install

```

## Run 

```

catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3

```

```

source devel/setup.zsh

```

```

roslaunch plan_manage multi_sim.launch

```