Carla-Ros-Birdge-PNC

本项目旨在通过 carla-ros-bridge 在 carla 上实现自动驾驶常用规划与控制模块。

1、Controller Module

本模块包含简易的控制算法

横向控制：LQR, PurePuresuit, Stanley

纵向控制：PID

2、Planning Module

本模块包含简易场景下的路径规划算法

Global planner: A* (carla_ros_bridge 自带)

Local planner: Lattice Planner

项目构建

本项目在 Ubuntu 20.04、ROS Noetic、carla 0.9.12 下通过测试。

1.安装依赖：

• Carla simulator (0.9.12)

  安装配置手册：https://carla.readthedocs.io/en/0.9.12/start_quickstart/

• ROS bridge for CARLA simulator(0.9.12)

  安装配置手册：https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_installation_ros1/

• Carla scenario_runner(0.9.12)

  安装配置手册：https://carla-scenariorunner.readthedocs.io/en/latest/getting_scenariorunner/

2. 配置工作空间

快速配置方式：

cd scripts
./quickly_setup.sh

手动配置方式：

1.创建src文件，放置功能包源码：
  mkdir -p ~/catkin_ws/src

2.进入src文件夹
  cd ~/catkin_ws/src

3.将功能包复制到的src目录下

4.初始化文件夹
  catkin_init_workspace

5.编译工作空间
  catkin build

Run Controller Demo

终端1：启动carla

cd path/to/carla/root

./CarlaUE4.sh

终端2：启动控制节点

source devel/setup.bash

Pure Pursuit

roslaunch controller controller_demo.launch control_method:="PurePursuit"

Stanley

roslaunch controller controller_demo.launch control_method:="Stanley"

LQR

roslaunch controller controller_demo.launch control_method:="LQR"

Run Planning Demo

终端1：启动carla

cd path/to/carla/root

./CarlaUE4.sh

终端2：启动Planning节点

source devel/setup.bash

roslaunch planning planning_demo.launch

终端3：启动scenario runner

scenario_runner-0.9.12目录下

python scenario_runner.py --scenario Avoid_and_Follow_1 --waitForEgo

终端4：启动控制节点

source devel/setup.bash

roslaunch controller controller.launch

To-Do-List

• MPC的实现
• EM planner的实现
• local planner应用场景的泛化

Reference

Casper Auto

Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame

https://github.com/czjaixuexi/carla_ros_bridge_pnc