1. Setup

1.1 Prerequisites

sudo apt-get install ros-$ROS_DISTRO-costmap-*

sudo apt-get install ros-$ROS_DISTRO-server

sudo apt-get install ros-$ROS_DISTRO-tf

sudo apt-get install libeigen3-dev

sudo apt-get install libgoogle-glog-dev

1.2 Get Start

mkdir -p Corridor_Bspline/src/planning && cd Corridor_Bspline/src/planning

git clone git@github.com:QingZhuanya/corridor_Bspline_optimization.git

cd ../..

catkin_make

source devel/setup.zsh

roslaunch opt_planner run_opt_planner.launch

2. Acknowledgements

• https://github.com/zm0612/Hybrid_A_Star
• https://github.com/ZJU-FAST-Lab/ego-planner
• https://github.com/ApolloAuto/apollo