dynamic_obstacle_avoidance_planner

Collision prediction based dynamic obstacle avoidance planner

Environment

• Ubuntu16.04 or Ubuntu18.04

Requirement

• Docker

Using docker is recommended. If you don't want to use docker, see Dockerfile and Reference(below) to setup.

Install and Build

$ cd your/workspace
$ git clone https://github.com/amslabtech/dynamic_obstacle_avoidance_planner.git
$ ./build.sh

How to Use

$ run_docker.sh
$ cd catkin_ws && catkin_make

open another terminal

for collision prediction, local costmap generation, and avoidance path planning
$ docker exec -it ros_mpc bash -c "source /ros_entrypoint.sh && roslaunch dynamic_obstacle_avoidance_planner dynamic_obstacle_avoidance_core.launch"

Reference

• https://github.com/coin-or/Ipopt
• https://coin-or.github.io/CppAD/doc/cppad.htm