Trajectory-Homework-for-ZJU-Intelligent-Mobile-Robot-Course

The A * algorithm used in the front-end (The front-end has optimized the A * algorithm with shortcut through visibility) and the Minco algorithm used in the back-end

安装方式

clone本仓库代码到ros工作空间夹的src文件夹下

注意事项

由于我们后端使用的是MINCO轨迹类，所以请先配置好gcopter的环境 可见（https://github.com/ZJU-FAST-Lab/GCOPTER） 或者直接在命令行输入以下内容:

sudo apt update
sudo apt install libspdlog-dev
sudo apt install cpufrequtils
sudo apt install libompl-dev
sudo cpufreq-set -g performance

编译

cd ..
catkin_make
source devel/setup.sh

运行

roslaunch astar_path_planner astar_planner.launch
roslaunch gcopter global_planning.launch 

结果展示