README.md · 时倾/AutoDriving-Planning-Control-Algorithm-Simulation-Carla

# 欢迎仪式
欢迎大家来到自动驾驶Player(L5Player)的自动驾驶算法与仿真空间，在这个空间我们将一起完成这些事情：
1. 控制算法构建基础模块并仿真调试：PID、LQR、Stanley 、MPC、滑膜控制、模糊控制、横向控制、纵向控制
2. 运动规划算法构建基础模块并仿真调试：样条曲线、贝塞尔曲线、ASTAR、RRT、动态规划、二次规划、EM Planer、Lattice Planer
3. 基于以上基础模块构建L2～L4功能模块： AEB、ACC、LKA、TJA、ALC、高速NOP、城市NOP、AVP
4. 文章、算法、理论、书籍分享；
5. 日常交流，行业咨询分享；

建立这个项目的目的，是希望从零开始，搭建完整的自动驾驶系统，并且与大家共同完成
 
github地址: https://github.com/L5Player/AutoDriving-Planning-Control-Algorithm-Simulation-Carla 
gitte地址：https://gitee.com/nannanbe/auto-driving-planning-control-algorithm-simulation-carla

atal error: coin/IpIpoptApplication.hpp: No such file or directorycompilation terminated.
由缺少coin_or库引起的，安装coin_or库的方法：点我查看如何安装coin_or。指令安装和源码安装均可，指令安装：
sudo apt install coinor-libipopt-dev

# 首先启动Crla仿真器
1. 在Carla下运行：./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia
 
![carla](./figures/carla.png)

# NEW PID 模块启动流程
0. 在PID Controler基础上更换导航路径，增加launch启动脚本以及rviz显示全局路径以及历史轨迹
1. source source_env.sh
2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
3. ros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node
4. 启动节点以及rviz: ros2 launch carla_l5player_pid_new_controller new_pid_launch.py

# PID 模块启动流程
1. source source_env.sh
2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
3. ros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node

# Stanley 模块启动流程
1. source source_env.sh
2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
3. ros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node

# LQR 模块启动流程
1. source source_env.sh
2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
3. ros2 launch carla_l5player_lqr_pid_controller lqr_launch.py

# MPC 模块启动流程
1. source source_env.sh
2. ros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
3. ros2 launch carla_l5player_mpc_controller mpc_launch.py

# 场景仿真器启动
首先将carla仿真器通过软连接添加到本项目同级目录下，然后进入项目目录
1. source source_env.sh
2. ros2 launch carla_ad_demo carla_ad_demo_with_scenario.launch.py scenario_runner_path:=/home/bea20/l5player_premium/auto-driving-planning-control-algorithm-simulation-carla/scenario_runner-0.9.13

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