yufan25 / apollo-trajectory-planning

decouple the trajectory planning part from the apollo v5.0 and run in ros system

apollo-trajectory-planning

Decouple the trajectory planning part from the apollo v5.0 and run in ros system.

Tested in ubuntu 18.04 with ros melodic.

In version 1.0 the lattice planning with static obstacle is realized.

• rosrun PNC_MapPub to publish the reference line of road
• rosrun PNC_ObsPub to publish the obstacle
• rosrun lattice_planning to run the lattice planning

For lateral optimization osqp solver is also an option. (Eigen needed)

apollo-trajectory-planning's Issues

During the runtime, the program will halt at a certain frame. After tracing the code, it was found that an error occurred in one of the vertical trajectory checking functions. After disabling this function, three test scenarios were successfully executed. However, in other test scenarios, the program still halts with a "core dumped" error. I personally feel that the existing lattice code cannot fully adapt to the varied input from the actual vehicle perception. There are occasional frames that halt due to reasons such as all the sampled trajectories being filtered out, the sampled trajectories being empty, or interruptions caused by the obstacle sequence function.