This repository is for the paper, "Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments".
Install the ros and the requirements below.
ros dependence: (use ros noetic with Ubuntu20.04 as an example)
sudo apt install ros-noetic-tf2-geometry-msgs
sudo apt install ros-noetic-ackermann-msgs
sudo apt install libompl-dev
casadi for mpc controller:
Go to the website of casadi and install casadi. For example, you can:
git clone https://github.com/casadi/casadi.git
cd casadi
📢Important!: Open the CMakeLists.txt and set the WITH_LAPACK_DEF and WITH_QPOASES_DEF from OFF to ON, then
mkdir build && cd build
cmake ..
make
sudo make install
NOTE: We may have forgotten other dependencies 😟, sorry!
Build the project: (you can change the trailer num defined in src/planner/CMakeLists.txt by changing the definition of TRAILER_NUM)
git
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clone https://github.com/ZJU-FAST-Lab/tracailer.git
cd tracailer
catkin_make
run the project:
source devel/setup.bash
roslaunch planner run_all.launch
When you see the robot in the Rviz like below, you can use 2D Pose Estimate to trigger planning.