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A lightweight differential flatness-based trajectory planner for car-like robots

License: GNU General Public License v3.0

Shell 0.02% CMake 2.72% C++ 95.71% EmberScript 0.61% C 0.04% Python 0.91%

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gaows123 young-rookie pangjinlongpjl feiyuxiaothu hongchaozhao mr-d-self-driving wx-james hualinzhuhai huangatlas coding9991 tmacattank lehdkfjkdt hs867785578 jzhyang1213 mamariomiamo forrest-z mengxingshifen1218 lkaho yeranlee songchunxu hongcalmjin wjy-mark iphet caomuqing gavinli-lgf robomark9 piaopiaojie oasis-guo yihuling creeperssun dtbinh lxjlu weigaofei tjh49 smdbh archycc yuanjinbiao zhong-xinkai fhao2018 colleyli bhzhao-auto whmjohn zlte2011 xiongzuming leon-renc zh-lei dreamwest crown798 penuel-pj ngsford mtncgj123 guo-youtian yanyanghappy lwtechnology 958117216 just1045523143 anjilin12321 syn66 rwheng namdinhrobotics zqw-hooper chliwang gchasing wingflysky nathanielneil mmyy seita1255

dftpav's Issues

Segmentation fault (Signal sent by the kernel [(nil)])

Hi~ When I try to use the 2D Nav Goal in RVIZ to trigger the planning, we have triggered parking mode, but the process is died, and the fault is like this:

addPVAGradCost2CT中phidotcost和latacccost为什么不计算了

我看traj_optimizer.cc中addPVAGradCost2CT phidotcost和latacccost都不计算了，那横向加速度和kappa的cost是在哪计算的？

I've been running into a bug and have tried many ways to solve it

n file included from /home/hou/dftpav/src/Dftpav/src/Sim/util/ssc_planner/inc/ssc_planner/ssc_planner.h:27,
from /home/hou/dftpav/src/Dftpav/src/Sim/util/ssc_planner/src/ssc_planner/ssc_planner.cc:9:
/home/hou/dftpav/build/Dftpav/src/Sim/util/ssc_planner/ssc_config.pb.h:10:10: fatal error: google/protobuf/port_def.inc: 没有那个文件或目录
10 | #include <google/protobuf/port_def.inc>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

undefined reference to `bool absl::lts_20230802::str_format_internal::FormatA rgImpl::Dispatch

非常感谢作者的分享，能否请教一个编译过程中遇到的问题？
尝试了重新安装absl与protobuf，两者应该都是最新版本，但是编译过程出现如下报错，与“absl::lts_20230802”相关。看起来与absl版本相关。

类似报错：protocolbuffers/protobuf#12292 ，没找到解决方法。

/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `bool absl::lts_20230802::str_format_internal::FormatA
rgImpl::Dispatch<long>(absl::lts_20230802::str_format_internal::FormatArgImpl::Data, absl::lts_20230802::str_format_internal::F
ormatConversionSpecImpl, void*)'                                                                                               
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `bool absl::lts_20230802::str_format_internal::FormatA
rgImpl::Dispatch<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(absl::lts_20230802::str_form
at_internal::FormatArgImpl::Data, absl::lts_20230802::str_format_internal::FormatConversionSpecImpl, void*)'                   
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::container_internal::DropDeletesWi
thoutResize(absl::lts_20230802::container_internal::CommonFields&, absl::lts_20230802::container_internal::PolicyFunctions cons
t&, void*)'                                                                                                                    
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::hash_internal::MixingHashState::L
owLevelHashImpl(unsigned char const*, unsigned long)'                                                                          
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::Mutex::AssertHeld() const'       
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::log_internal::LogMessage& absl::l
ts_20230802::log_internal::LogMessage::operator<< <void*, 0>(void* const&)'                                                    
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::strings_internal::CatPieces[abi:c
xx11](std::initializer_list<absl::lts_20230802::string_view>)'                                                                 
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::numbers_internal::kHexTable'
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::log_internal::LogMessage& absl::l
ts_20230802::log_internal::LogMessage::operator<< <unsigned short, 0>(unsigned short const&)'
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `google::protobuf::internal::AssignDescriptors(google$
:protobuf::internal::DescriptorTable const* (*)(), absl::once_flag*, google::protobuf::Metadata const&)'
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::internal_statusor::Helper::Crash(
absl::lts_20230802::Status const&)'
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::hash_internal::MixingHashState::k
Seed'
/home/ldx/ws/Dftpav/devel/lib/libhkust_pl_ssc.so: undefined reference to `absl::lts_20230802::ascii_internal::kPropertyBits'
collect2: error: ld returned 1 exit status

trajectory kappa is not in kappa constraint

Hello, in the process of using the code, I found that the curvature of the planned trajectory would not conform to the curvature constraint. May I ask whether the constraint became a soft constraint after being converted into the objective function?
（forward and backward max kappa is 1）

..

啥时候开源源码啊

An error occurred when I was compiling

I encountered the following error while compiling the working directory, and I did not make any changes to the source code. May I ask if the author has encountered it before, or if there are any solutions.

/usr/bin/c++ -fPIC -std=c++14  -g -O3 -Wall -O3 -Wall -shared -Wl,-soname,libhkust_pl_ooqp_itf.so -o /home/kang/diffFlat_Planner/devel/lib/libhkust_pl_ooqp_itf.so CMakeFiles/hkust_pl_ooqp_itf.dir/src/common/solver/ooqp_interface.cc.o CMakeFiles/hkust_pl_ooqp_itf.dir/src/common/solver/qp_solver.cc.o  /home/kang/diffFlat_Planner/src/Dftpav/src/Sim/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/kang/diffFlat_Planner/src/Dftpav/src/Sim/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/kang/diffFlat_Planner/src/Dftpav/src/Sim/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/kang/diffFlat_Planner/src/Dftpav/src/Sim/core/common/thirdparty/ooqp/lib/libooqpbase.a /home/kang/diffFlat_Planner/src/Dftpav/src/Sim/core/common/thirdparty/ooqp/lib/libma27.a -lblas -lgfortran 
/usr/bin/ld: cannot find -lgfortran
collect2: error: ld returned 1 exit status
Dftpav/src/Sim/core/common/CMakeFiles/hkust_pl_ooqp_itf.dir/build.make:120: recipe for target '/home/kang/diffFlat_Planner/devel/lib/libhkust_pl_ooqp_itf.so' failed
make[2]: *** [/home/kang/diffFlat_Planner/devel/lib/libhkust_pl_ooqp_itf.so] Error 1
CMakeFiles/Makefile2:2636: recipe for target 'Dftpav/src/Sim/core/common/CMakeFiles/hkust_pl_ooqp_itf.dir/all' failed
make[1]: *** [Dftpav/src/Sim/core/common/CMakeFiles/hkust_pl_ooqp_itf.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

使用2d_navgoal后卡死报错

一开始正常运行，一点击goal后rviz里的车都静止不动了

1 Question about the safe corridor building

代码中构造安全走廊是在这里调用的吗？https://github.com/ZJU-FAST-Lab/Dftpav/blob/1808107b7fb6fe459f38154e355010a854e4575f/src/Plan/traj_planner/src/traj_manager.cpp#LL573C14-L573C14

为什么不是调用这个函数呢？https://github.com/ZJU-FAST-Lab/Dftpav/blob/1808107b7fb6fe459f38154e355010a854e4575f/src/Plan/traj_planner/src/traj_manager.cpp#LL918C3-L920C73

关于曲率约束求导部分，代码实现中求导公式和论文公式不一致

论文中曲率求导的公式1. delta_G/delta_dsigma = 2*(ddsigma^T * B * dsigma) / ||dsigma||_2^3 (.....) 2. delta_G/delta_ddsigma = 2(ddsigma^T B* dsigma)(...), 在代码实现中公式1，只计算了括号内的，没有计算括号前的内容，公式2，括号内disigma二范数的6次方，代码为 3次方，括号前的内容也没有计算，请问，代码是否计算错误，还是有意省略

No map is updated

when i run the script, "No map is updated" showed in the terminal.

Rviz shut down when planning is triggered

When I use 2D Nav Goal in RVIZ to trigger the planning, RVIZ exits and throws the following error:

I'm using ROS noetic
The eigen version is 3.3.7

How to simulate in urban road environoments

Hi, we can obtain the simulation process of unstructured environments from the doc, but how can we simulate dynamic urban road environments? Could you provide some guidance on this?

Question about the initial value of optimization

I wrote a similar code on a trajectory planner, and it failed to iterate, or iterated poorly, if the chosen initial values were not close to the true value.
我编写了一个和您论文中相似的算法，但是我经过测试，如果初值不是一个比较好的数值，那么迭代进行不下去，甚至会出错，如下图所示，我模仿TEB中的例子，一个圆形的可拖动的障碍物，如果初始路径点选取经过障碍物，尽管添加了障碍物约束，但是它不能有效的弹开，不能达到teb算法中的范例中的效果；

我编写代码实现的效果图，效果比较差；

这是我的代码运行效果的视频，请大佬给一点建议，诚盼您的回复，真心感激不尽！
https://github.com/ZJU-FAST-Lab/Dftpav/assets/42513042/5e7503de-1673-4e6b-ac29-e49de5bf4044