Implementation of the Frenet Optimal Planning Algorithm (with modifications) in ROS.
Implementation of the Frenet Optimal Planning Algorithm (with modifications) in ROS.
The original paper "Optimal trajectory generation for dynamic street scenarios in a Frenét Frame" can be found here
Apollo Lattice Planner
to speed up the planning.use_async = True
), which can significantly improve the planning frequency.Our package is only based on standard ROS pkgs, with no other external dependencies:
Clone the repo and install dependencies:
# clone the repo
git clone https://github.com/SS47816/frenet_optimal_planner.git
cd frenet_optimal_planner
# install dependencies
rosdep install --from-paths src --ignore-src -r -y
# build using `catkin_make` , or you can build with `catkin build`
catkin_make
# source
source devel/setup.bash
Launch the Planner node by running:
# Launch nodes
roslaunch frenet_optimal_planner frenet_optimal_planner.launch
You are welcome contributing to the package by opening a pull-request
We are following: Google C++ Style Guide, C++ Core Guidelines, and ROS C++ Style Guide
Our frenet_optimal_planner
ROS package is licensed under Apache License 2.0
The included Eigen Library follows its own Mozilla Public License v. 2.0