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carla与ros2的自动驾驶算法-planning与control算法开发与仿真
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:
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文章、算法、理论、书籍分享;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:AutoDriving-Planning-Control-Algorithm-Simulation-Carla: AutoDriving-Planning-Control-Algorithm-Simulation-Carla
首先启动Crla仿真器
在Carla下运行:./CarlaUE4.sh 或 ./CarlaUE4.sh -prefernvidia![](http://zhangshiyu.com/zb_users/upload/2023/05/20230506113701168334422157536.png)
NEW PID 模块启动流程
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source source_env.shros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.pyros2 run carla_l5player_pid_new_controller carla_l5player_pid_new_controller_node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
source source_env.shros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.pyros2 run carla_l5player_pid_controller carla_l5player_pid_controller_node
Stanley 模块启动流程
source source_env.shros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.pyros2 run carla_l5player_stanley_pid_controller carla_l5player_stanley_pid_controller_node
LQR 模块启动流程
source source_env.shros2 launch carla_l5player_bridge_ego_vis carla_bridge_ego_vehilce.launch.pyros2 launch carla_l5player_lqr_pid_controller lqr_launch.py