crank_driving_planner

A planner for Autoware that runs on an S-shaped crank.

実行手順

1. リポジトリをクローン

cd aichallenge_ws/src/aichallenge_submit/
git clone [email protected]:bushio/crank_driving_planner.git

2. aichallenge_submit.launch.xml の置き換え

cp ~/aichallenge2023-sim/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/crank_driving_planner/launch/aichallenge_submit.launch.xml ~/aichallenge2023-sim/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/aichallenge_submit_launch/launch/

3. motion_planning.launch.py の置き換え

cp ~/aichallenge2023-sim/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/crank_driving_planner/launch/motion_planning.launch.py ~/aichallenge2023-sim/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_universe_launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/

単体実行

• 下記を実行する。

ros2 launch crank_driving_planner crank_driving_planner.launch.xml