Lexicographic Planning

This package includes a planning algorithm that utilizes lexicographic optimization for solving guided-planning problems.

Dependency

Install ROS and jackal_velodyne package for a minimum demo. It is strongly recommended that you upgrade your Gazebo to get better simulation performance.

ROS (tested with Kinetic and Melodic)

sudo apt-get install -y ros-kinetic-navigation

jackal_velodyne

sudo apt-get install ros-kinetic-jackal-*
sudo apt-get install ros-kinetic-velodyne-*
cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/jackal_velodyne.git
cd ..
catkin_make

Upgrade Gazebo

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt update
sudo apt upgrade

Install

cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/lexicographic_planning.git
cd ..
catkin_make

Testing

Using the following command to start running the package. If this is the first time you run Gazebo on your computer, it may take a while to launch because Gazebo needs to download some resources.

roslaunch lexicographic_planning run.launch

Click 2D Nav Goal in Rviz, then click anywhere in the window. The robot should start following the path.

Parameters

The number of costs that are optimized is defined by NUM_COSTS in utility.h.
The type of costs are defined in edgePropagation() function in pathPlanning.cpp.
More parameters can be found in params.yaml.

Paper

Thank you for citing our paper if you use any of this code.

@inproceedings{shan2020receding,
  title={A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways},
  author={Shan, Tixiao and Wang, Wei and Englot, Brendan and Ratti, Carlo and Rus Daniela},
  booktitle={59th IEEE Conference on Decision and Control (CDC)}
  year={2020},
  organization={IEEE}
}

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