feat: to avoide obstacles, add state lattice planner (#45)

* fix: to match the course content, change the folder stucture Signed-off-by: Masahiro Kubota <[email protected]> * feat; add code skelton Signed-off-by: Masahiro Kubota <[email protected]> * feat: implement all function Signed-off-by: Masahiro Kubota <[email protected]> * fix: modify the code to build successfully Signed-off-by: Masahiro Kubota <[email protected]> * fix: modify the code Signed-off-by: Masahiro Kubota <[email protected]> * feat: modify the code to avoide tobjects Signed-off-by: Masahiro Kubota <[email protected]> * feat: modify autoware.rviz to visualize the trajectories Signed-off-by: Masahiro Kubota <[email protected]> * feat: create trajectories using bezier interpolate Signed-off-by: Masahiro Kubota <[email protected]> * feat: add the visualization of candidate trajectories Signed-off-by: Masahiro Kubota <[email protected]> * feat: make the marker of the best trajectory bigger Signed-off-by: Masahiro Kubota <[email protected]> * fix: modify the calculation of the costmap Signed-off-by: Masahiro Kubota <[email protected]> * fix: modify the marker color Signed-off-by: Masahiro Kubota <[email protected]> * fix: visualize marker in default Signed-off-by: Masahiro Kubota <[email protected]> * refactor: delete logging function Signed-off-by: Masahiro Kubota <[email protected]> * refactor: arrange constant variables Signed-off-by: Masahiro Kubota <[email protected]> * refactor: arrange constatant variables Signed-off-by: Masahiro Kubota <[email protected]> * feat: set initial value to member constant Signed-off-by: Masahiro Kubota <[email protected]> * refactor: set initia value Signed-off-by: Masahiro Kubota <[email protected]> * set parameters Signed-off-by: Masahiro Kubota <[email protected]> * modify the function name Signed-off-by: Masahiro Kubota <[email protected]> * fix: lidar parameter Signed-off-by: Masahiro Kubota <[email protected]> * refactor: modify comments Signed-off-by: Masahiro Kubota <[email protected]> * fix: to adapt the code to the previous sections, modify the code Signed-off-by: Masahiro Kubota <[email protected]> * fix: modify the cell count of Grid Signed-off-by: Masahiro Kubota <[email protected]> * fix: add namespace Signed-off-by: Masahiro Kubota <[email protected]> * fix: modfy the namespace Signed-off-by: Masahiro Kubota <[email protected]> --------- Signed-off-by: Masahiro Kubota <[email protected]>
AutomotiveAIChallenge · Jul 5, 2024 · 6343295 · 6343295
1 parent 12acc1c
commit 6343295
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diff --git a/src/autoware_practice_course/CMakeLists.txt b/src/autoware_practice_course/CMakeLists.txt
@@ -11,15 +11,28 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_auto REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 ament_auto_find_build_dependencies()
 
+find_package(PCL REQUIRED COMPONENTS common io)
+find_package(visualization_msgs REQUIRED)
+
+include_directories(
+  include
+  ${PCL_INCLUDE_DIRS}
+)
+
 ament_auto_add_executable(vehicle_forward  src/vehicle/forward.cpp)
 ament_auto_add_executable(vehicle_backward src/vehicle/backward.cpp)
 ament_auto_add_executable(p_controller src/velocity_planning/p_controller.cpp)
-ament_auto_add_executable(trajectory_planner src/velocity_planning/trajectory_planner.cpp)
 ament_auto_add_executable(longitudinal_controller src/velocity_planning/longitudinal_controller.cpp)
 ament_auto_add_executable(trajectory_loader src/velocity_planning/trajectory_loader.cpp)
 ament_auto_add_executable(trajectory_follower src/velocity_planning/trajectory_follower.cpp)
+ament_auto_add_executable(trajectory_planner src/avoidance/trajectory_planner.cpp)
+
+
+target_link_libraries(trajectory_planner ${PCL_LIBRARIES})
+target_link_libraries(trajectory_planner ${cpp_typesupport_target})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

diff --git a/src/autoware_practice_course/package.xml b/src/autoware_practice_course/package.xml
@@ -12,9 +12,12 @@
   <depend>autoware_auto_control_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_practice_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>