Collision prediction based dynamic obstacle avoidance planner
- Ubuntu16.04 or Ubuntu18.04
- Docker
Using docker is recommended. If you don't want to use docker, see Dockerfile and Reference(below) to setup.
$ cd your/workspace
$ git clone https://github.com/amslabtech/dynamic_obstacle_avoidance_planner.git
$ ./build.sh
$ run_docker.sh
$ cd catkin_ws && catkin_make
open another terminal
for collision prediction, local costmap generation, and avoidance path planning
$ docker exec -it ros_mpc bash -c "source /ros_entrypoint.sh && roslaunch dynamic_obstacle_avoidance_planner dynamic_obstacle_avoidance_core.launch"