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Add the state lattice motion planning features #2

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Aug 26, 2015
Merged

Add the state lattice motion planning features #2

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5 changes: 3 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -14,19 +14,20 @@ Open-source software for autonomous driving
- Qt 5.2.1 or higher
- CUDA(Optional)
- FlyCapture2(optional)
- Armadillo

### Install dependencies for Ubuntu 14.04 indigo

```
% sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-sound-play
% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev
% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev
```

### Install dependencies for Ubuntu 13.10 indigo and Ubuntu 13.04 hydro

```
% sudo apt-get install ros-hydro-desktop-full ros-indigo-nmea-msgs ros-hydro-sound-play
% sudo apt-get install libnlopt-dev freeglut3-dev libssh2-1-dev
% sudo apt-get install libnlopt-dev freeglut3-dev libssh2-1-dev libarmadillo-dev
```

### Install Velodyne Driver dependencies
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131 changes: 51 additions & 80 deletions ros/src/.config/rviz/demo.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,9 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /PointCloud21
- /Image1
- /MarkerArray1/Namespaces1
Splitter Ratio: 0.5
Tree Height: 865
Tree Height: 589
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand All @@ -28,80 +25,59 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
- Class: rviz/Marker
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Marker Topic: /vscan_linelist
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 9.35255
Min Value: -11.618
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
- Class: rviz/MarkerArray
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 135
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /velodyne_points
Use Fixed Frame: true
Use rainbow: true
Marker Topic: /vector_map
Name: MarkerArray
Namespaces:
cross walk: true
curb: true
gutter: true
lane: false
pole: true
road edge: true
road sign: true
road surface mark: true
signal: true
stop line: true
streetlight: true
utilitypole: true
white line: true
zebrazone: true
Queue Size: 100
Value: true
- Class: rviz/Image
- Class: rviz/Marker
Enabled: true
Image Topic: /image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Marker Topic: /cubic_splines_viz
Name: Marker
Namespaces:
"": true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /vscan_linelist
Marker Topic: /sim_prius_model
Name: Marker
Namespaces:
vscan_linelist: true
sim_prius_model: true
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: velodyne
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
Expand All @@ -121,33 +97,28 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 33.9424
Angle: 0
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 28.3026
Y: 6.95075
Z: -3.52082
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.209802
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.31858
Scale: 10
Target Frame: sim_base_link
Value: TopDownOrtho (rviz)
X: 0
Y: 0
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1374
Hide Left Dock: false
collapsed: true
Height: 1026
Hide Left Dock: true
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000032e000004affc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc00000043000004af0000010001000021fa000000020100000003fb0000000a0049006d0061006700650100000000ffffffff0000000000000000fb0000000a0049006d0061006700650100000000ffffffff0000005b00fffffffb000000100044006900730070006c00610079007301000000000000013c0000010f00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a0000000044fc0100000002fb0000000800540069006d0065010000000000000a000000025800fffffffb0000000800540069006d00650100000000000004500000000000000000000006cc000004af00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000032e00000372fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc00000028000003720000000000fffffffa000000000100000003fb0000000a0049006d0061006700650100000000ffffffff0000000000000000fb0000000a0049006d0061006700650100000000ffffffff0000000000000000fb000000100044006900730070006c00610079007300000000000000013c0000010f00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000372fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000372000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f00000044fc0100000002fb0000000800540069006d006501000000000000064f000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000064f0000037200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -156,6 +127,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 2560
X: -10
Y: 19
Width: 1615
X: 55
Y: -14
131 changes: 48 additions & 83 deletions ros/src/computing/planning/motion/packages/driving_planner/CMakeLists.txt
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@@ -1,121 +1,86 @@
cmake_minimum_required(VERSION 2.8.3)
project(driving_planner)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
pcl_ros
pcl_conversions
sensor_msgs
tf
gnss
message_generation
runtime_manager
waypoint_follower
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

################################################
## Find OpenMP in order to parallelize loops ##
################################################

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
OPTION (USE_OpenMP "Use OpenMP" ON)
IF(USE_OpenMP)
FIND_PACKAGE(OpenMP)
IF(OPENMP_FOUND)
SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
ENDIF()
ENDIF()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
add_message_files(
FILES
lane.msg
waypoint.msg
dtlane.msg
)

## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES driving_planner
CATKIN_DEPENDS roscpp waypoint_follower
# DEPENDS system_lib
INCLUDE_DIRS include
LIBRARIES libtraj_gen
CATKIN_DEPENDS roscpp std_msgs tf runtime_manager waypoint_follower
DEPENDS gnss
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
SET(CMAKE_CXX_FLAGS "-std=c++0x -O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}")

include_directories(
include
${catkin_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(driving_planner
# src/${PROJECT_NAME}/driving_planner.cpp
# )

## Declare a cpp executable
# add_executable(driving_planner_node src/driving_planner_node.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(driving_planner_node driving_planner_generate_messages_cpp)
add_library(libtraj_gen lib/libtraj_gen.cpp)
target_link_libraries(libtraj_gen ${catkin_LIBRARIES} /usr/lib/libarmadillo.so)

## Specify libraries to link a library or executable target against
# target_link_libraries(driving_planner_node
# ${catkin_LIBRARIES}
# )
add_executable(lattice_trajectory_gen nodes/lattice_trajectory_gen/lattice_trajectory_gen.cpp)
target_link_libraries(lattice_trajectory_gen gnss libwaypoint_follower libtraj_gen ${catkin_LIBRARIES})
add_dependencies(lattice_trajectory_gen
waypoint_follower_generate_messages_cpp
runtime_manager_generate_messages_cpp)

add_executable(lattice_twist_convert nodes/lattice_twist_convert/lattice_twist_convert.cpp)
target_link_libraries(lattice_twist_convert libwaypoint_follower libtraj_gen ${catkin_LIBRARIES})
add_dependencies(lattice_twist_convert
waypoint_follower_generate_messages_cpp)




#############
## Install ##
Expand Down
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