Pure tracking algorithm simulation

overview

Use C++ and ros to implement pure tracking simulation in gazebo.

Environmental preparation

sudo apt-get install -y ros-noetic-gazebo-ros-control
sudo apt-get install -y ros-noetic-ros-control ros-noetic-ros-controllers
sudo apt-get install -y ros-noetic-gazebo-ros-control

Create workspace catkin_ws

0. 克隆工程
  git clone https://github.com/NeXTzhao/planning.git

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.将路径ros/src下的功能包复制粘贴到创建的src目录下

4.初始化文件夹
  catkin_init_workspace

5.编译工作空间catkin_make
  cd ~/catkin_ws/
  catkin_make

PS: Remember to modify the path of the smart.xacro car model, otherwise the car model will not be displayed normally after running the relevant instructions.

Run pure tracking algorithm

Implementation ideas:

• Use spline interpolation for simple trajectory generation
• Write pure_pursuit pure path tracking algorithm to track the generated trajectory

Operation steps: (Open a new terminal window)

source devel/setup.sh
roslaunch car_model spawn_car.launch
roslaunch purepursuit splinepath.launch 
roslaunch purepursuit purepursuit.launch
rviz 中add /splinepoints /rvizpath  /smart（在rviz显示中，红色为小车运动轨迹，绿色为规划模块给出的轨迹）

reference

https://blog.csdn.net/qq_37268205/article/details/120992607?ops_request_misc=&request_id=&biz_id=102&utm_term=%E7%BA%AF%E8%B7%9F%E8%B8%AA%20%20ros&utm_medium=distribute.pc_search_result.none-task-blog-2_allsobaiduweb~default-5-120992607.nonecase&spm=1018.2226.3001.4187