leggedrobotics/se2_navigation

Planning and control for car-like vehicles

Overview

Pure pursuit controller and Reeds-Shepp sampling based planner for navigation in SE(2) space. This package has been mainly intended for car-like vehicles, although it can be used with mobile bases too.

How is this package different from other SE(2) planning/control packages?

• Provides planning and control for car like vehicles which are non-holonomic
• Correctly handles both forward and reverse driving
• Allows joint path and approach pose planning when we only know approximate target location
• Comes with a minimal set of dependencies
• Core algorithmics is separated from ros dependent code
• Tested on real-hardware
• Comes with a car example
• Integrated with grid_map package
• Features visualizatios and rviz planning interface
• Easily extensible
• Supports dynamic reconfigure for controller tuning

Warning: At the moment, this planning and control framework uses geometric planners which makes it unsuitable for high-speed driving. It is meant to be used for slow maneuvers, e.g. parking maneuvers.

Released under BSD 3-Clause license.

Author: Edo Jelavic

Maintainer: Edo Jelavic, [email protected]

Navigation with prius	Navigation with Menzi Muck M545

Navigation with Spacebok

Publications

The code inside this repo has been developed as a part of our research on autonomous precision harvesting. The paper can be found here. If you are using packages from se2_navigation, please add the following citation to your publication:

Jelavic, E., Jud, D., Egli, P. and Hutter, M., 2021. Towards Autonomous Robotic Precision Harvesting. arXiv preprint arXiv:2104.10110.

@article{jelavic2021towards,  
   title   = {Towards Autonomous Robotic Precision Harvesting},  
   author  = {Jelavic, Edo and Jud, Dominic and Egli, Pascal and Hutter, Marco},  
   journal = {arXiv preprint arXiv:2104.10110},  
   year    = {2021}
}

Documentation

This package is split into smaller units each of which features it's own README. Follow these links for more info:

• car_demo
• pure_pursuit_core
• pure_pursuit_ros
• se2_navigation_msgs
• se2_planning
• se2_planning_ros
• se2_planning_rviz
• se2_visualization_ros
• approch_pose_planner
• approach_pose_planner_ros

Installation

Refer to car_demo for the details. Refer to approach_pose_planner if you are interested in approach pose planning.

Usage

Run the main demo with:
roslaunch car_demo demo_autonomous.launch
See car_demo for the details.

Coming soon

• Mobile base demo