EgoPlanner
Source: https://github.com/ZJU-FAST-Lab/ego-planner-swarm/tree/ros2_version
1. Required
- vtk (a dependency library for installing PCL, Qt needs to be checked when compiling)
- PCL
- pcl_ros
2.
Maybe some of my publish and subscribe settings are not written correctly. Using the default FastDDS of ROS2 will cause the program to run very slowly. I haven't found the reason yet, so please change DDS to cyclonedds as follows
2.1 Installing
sudo apt install ros-humble-rmw-cyclonedds-cpp
2.2 Modify the default
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
source ~/.bashrc
2.3 Check if the modification
ros2 doctor --report | grep "RMW middleware"
If the output shows rmw_cyclonedds_cpp, it means the modification was successful.
3. Code
3.1 Running
ros2 launch ego_planner rviz.launch.py
3.2 Running the planning
Open a new terminal and enter the following command
- Standalone
ros2 launch ego_planner single_run_in_sim.launch.py
- swarm
ros2 launch ego_planner swarm.launch.py
- large swarm
ros2 launch ego_planner swarm_large.launch.py
- Additional parameters to choose the map generation mode and whether to take dynamics into account
- use_mockamap: map generation method, the default is False, False uses Random Forest, True uses mockamap
- use_dynamic: Whether to consider dynamics, the default is False, False does not consider, True consider
ros2 launch ego_planner single_run_in_sim.launch.py use_mockamap:=True use_dynamic:=False