About

This repository is for the Control part of an Autonomous Driving System. It subscribes to paths, current pose and velocities via ROS2, and publishes the vehicle's throttle and steering values. For lateral control, it uses the pure pursuit and stanley algorithms, while for longitudinal control, it employs a PID algorithm. If you're interested in a detailed usage of these algorithms, visit the following repository to test them out.

Requirements

• Ubuntu 20.04

• ROS2 foxy

• matplotlib & numpy

  pip install numpy
  pip install matplotlib

• Eigen

  sudo apt update	
  sudo apt install libeigen3-dev

• Ceres

  sudo apt update
  sudo apt install libeigen3-dev libgoogle-glog-dev libgflags-dev
  sudo apt install libceres-dev

• ompl

  sudo apt install libompl-dev

Usage

If you want to test the algorithms without any additional installations, use the following commands:

git clone https://github.com/SEA-ME-COSS/Control.git
cd Control/algorithm
mkdir build && cd build
cmake ..
make
./control

Reference

• Hybrid A Star
• ROS2 foxy