libai1943/cartesianplanner

Source codes of “Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method” published in IEEE Trans. Intelligent Transportation Systems

cartesianplanner's Issues

Could NOT find METIS (missing: METIS_DIR)

when i run catkin_make,it outputs:

-- x86_64 architecture detected - setting flag -fPIC
get_property(PKG_HELP CACHE WITH_BUILD_IPOPT PROPERTY HELPSTRING)
get_property(PKG_HELP CACHE WITH_BUILD_MUMPS PROPERTY HELPSTRING)
METIS: find via CONFIG
-- Could NOT find METIS (missing: METIS_DIR)
METIS: 0
-- Found METIS: /usr/lib/x86_64-linux-gnu/libmetis.so
-- Found METIS include dir: /usr/include
CMake Error at cmake/FindMETIS.cmake:52 (target_link_libraries):
  Cannot specify link libraries for target "metis::metis" which is not built
  by this project.
Call Stack (most recent call first):
  CMakeLists.txt:884 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/xhy/catkin_ws/build/vendor/src/casadi-external-build/CMakeFiles/CMakeOutput.log".
cartesian_planner/CMakeFiles/casadi-external.dir/build.make:108: recipe for target 'vendor/src/casadi-external-stamp/casadi-external-configure' failed
make[2]: *** [vendor/src/casadi-external-stamp/casadi-external-configure] Error 1
CMakeFiles/Makefile2:917: recipe for target 'cartesian_planner/CMakeFiles/casadi-external.dir/all' failed
make[1]: *** [cartesian_planner/CMakeFiles/casadi-external.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

there are the installed packages:

liblapack-dev is already the newest version (3.7.1-4ubuntu1).
libmetis-dev is already the newest version (5.1.0.dfsg-5).
pkg-config is already the newest version (0.29.1-0ubuntu2).
g++ is already the newest version (4:7.4.0-1ubuntu2.3).
gcc is already the newest version (4:7.4.0-1ubuntu2.3).
gfortran is already the newest version (4:7.4.0-1ubuntu2.3).
git is already the newest version (1:2.17.1-1ubuntu0.18).
patch is already the newest version (2.7.6-2ubuntu1.1).
wget is already the newest version (1.19.4-1ubuntu2.2).

ros2 可以run通吗？

您好，感谢您的分享。想问一下ros2的环境可以run通这个planner吗？

Error : TypeError: write() argument must be str, not bytes

Error output:

Traceback (most recent call last):
  File ".../CartesianPlanner/script/reference_publisher.py", line 256, in <module>
    main()
  File ".../CartesianPlanner/script/reference_publisher.py", line 235, in main
    pickle.dump({"center": center_line, "static": static_obstacles, "dynamic": dynamic_obstacles}, f)
TypeError: write() argument must be str, not bytes

For Python 3.x.x，should be changed to open in binary read-write mode(' wb+') at line 234 in "/script/reference_publisher.py" .

//original code
with open(pickle_path, 'w') as f:

//changed code for python 3.x.x
with open(pickle_path, 'wb') as f:

How to add affine constraint in nlp optimization

this project uses axis align boxs to constrain [x,y], when I want to use oriented bounding box, how can I refine 'trajectory_nlp.cpp' using casadi?

一个关于代码细节的问题

非常感谢分享这么好的研究工作，我在阅读代码时候，发现trajectory_optimizer.cpp文件中的result = {{x - incremental[0], y - incremental[2]}, {x + incremental[1], y + incremental[3]}}的这行代码，更改为result = {{x - incremental[0]-radius, y - incremental[2]-radius}, {x + incremental[1]+radius, y + incremental[3]+radius}};是否更为合适？？感谢您的解答

ROS2

First of all, thank you for such a great project!
May I ask if ROS2 foxy can run this project?

[reference_publisher_node-2] process has died

单启reference_publisher.py会报这样的问题
from cartesian_planner.msg import CenterLine, CenterLinePoint, Obstacles, DynamicObstacles, DynamicObstacle,
ImportError: No module named cartesian_planner.msg

error

-- Configuring incomplete, errors occurred!
See also "/home/olh/catkin_ws/build/vendor/src/casadi-external-build/CMakeFiles/CMakeOutput.log".
cartesian_planner/CMakeFiles/casadi-external.dir/build.make:108: recipe for target 'vendor/src/casadi-external-stamp/casadi-external-configure' failed
make[2]: *** [vendor/src/casadi-external-stamp/casadi-external-configure] Error 1
CMakeFiles/Makefile2:917: recipe for target 'cartesian_planner/CMakeFiles/casadi-external.dir/all' failed
make[1]: *** [cartesian_planner/CMakeFiles/casadi-external.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

what happen