Motion Planning

This repository contains one of the subsystem for Autonomous Driving Platform.

Autonomous Driving Platform Subsystems

1. Perception
2. Planning
3. Control

Developer Notes

Please remember that Repository work is In Progress and may contain incomplete/broken functionality for some of the components. Keep track of Issue Tracker to see current status of the Work or report new issue if you encounter or contact maintainer of the repository (listed in CONTRIBUTING.md) to get clarity on the issues.

This repository is primarily hosted on GitLab and Mirrored on GitHub. For latest information on Repository, please look into GitLab.

Build

• Build project
  • Release bazel build //...
  • Debug bazel build -c dbg //...
• Run Unit Tests bazel test //... --test_output=all

Test

• Launch Simulator
• Run ./bazel-bin/client-app data/highway-map.csv

Dependencies

• libssl

  On macOS, brew install libssl On Linux, apt-get install libssl-dev

• libuv

  On macOS, brew install libuv On Linux, apt-get install libuv1-dev

• Bazel

• Simulator

  • Download prebuilt binaries
    • Linux
    • MacOS
    • MacOS Catalina v10.15
    • Windows

Supported OS

Currently project works (tested) on following Operating Systems:

• macOS Catalina > v10.15
• Ubuntu 18.04
• Docker Engine v2.1.0 (stable)

Third-Party

Repository uses some of the third party library as follows, which are being downloaded and linked with Bazel Rules defined in WORKSPACE and bazel/ of this repository.

• nlohmann/units
• nholthaus/json
• uWebSockets
• GTest
• Eigen3
• Spline

Docker

If one want to use Docker Image for quick and easy built-test. Follow below steps:

1. Install Docker for respective OS.

2. Pull Latest Docker Image

   docker pull registry.gitlab.com/ad_platform/planning:latest
   

3. Launch Docker Container for the downloaded image and share checked out repository with docker container

   docker run -it -v $(pwd):/workspace registry.gitlab.com/ad_platform/planning:latest
   

4. Build and test within docker container

   bazel build //...
   bazel test //... --test_output=all