├── .catkin_workspace ├── .gitignore ├── LICENSE ├── README.md ├── figure.png ├── run.sh └── src ├── CMakeLists.txt └── carlike_planner ├── back_end ├── CMakeLists.txt ├── app │ └── back_end_node.cpp ├── include │ ├── back_end │ │ └── minco_traj_opt │ │ │ ├── alm_traj_opt.h │ │ │ └── alm_traj_opt_flow.h │ └── utils │ │ ├── banded_system.hpp │ │ ├── lbfgs.hpp │ │ ├── root_finder.hpp │ │ └── se2traj.hpp ├── package.xml └── src │ └── minco_traj_opt │ ├── alm_traj_opt.cpp │ └── alm_traj_opt_flow.cpp ├── front_end ├── CMakeLists.txt ├── include │ └── kino_astar.h ├── package.xml └── src │ └── kino_astar.cpp ├── mpc_controller ├── CMakeLists.txt ├── README.md ├── include │ ├── mpc │ │ └── mpc.h │ └── utils │ │ ├── minco_traj.hpp │ │ └── traj_anal.hpp ├── launch │ └── run_mpc.launch ├── msg │ └── SE2Traj.msg ├── package.xml └── src │ ├── mpc.cpp │ └── mpc_node.cpp ├── plan_env ├── CMakeLists.txt ├── include │ └── plan_env │ │ ├── edt_environment.h │ │ ├── global_map.h │ │ ├── sdf_map.h │ │ └── uneven_map.h ├── package.xml └── src │ ├── global_map.cpp │ ├── sdf_map.cpp │ └── uneven_map.cpp ├── plan_manager ├── CMakeLists.txt ├── include │ └── plan_manager │ │ └── plan_manager.h ├── launch │ └── run_minco.launch ├── package.xml ├── params │ └── run_minco.yaml ├── rviz │ └── default.rviz └── src │ ├── manager_node.cpp │ └── plan_manager.cpp └── simulate ├── CMakeLists.txt ├── car_model ├── CAR_original.dae ├── _51225ex1diffuse.jpeg ├── _51225ex2diffuse.jpeg ├── default.urdf ├── meshes │ └── S1030-0315.dae ├── racecar.urdf.xacro └── sensors │ ├── camera.xacro │ ├── imu.xacro │ └── lidar.xacro ├── config └── ctrl.yaml ├── launch ├── robot_amcl.launch.xml └── run_a_star_with_minimumsnap.launch ├── maps ├── map.yaml ├── map_basic.png ├── map_dead_end.png ├── map_demo.png ├── map_empty.png ├── map_large.png ├── map_maze.png ├── map_parking.png ├── map_parking_lot.png ├── map_slalom.png ├── robocup_home.pgm └── robocup_home.yaml ├── package.xml ├── param ├── costmap_common_params.yaml ├── global_costmap_params.yaml ├── local_costmap_params.yaml └── teb_local_planner_params.yaml ├── rviz └── display_hybrid_astar.rviz ├── scripts ├── CMakeLists.txt ├── package.xml └── src │ ├── gazebo_odometry.py │ ├── keyboard_teleop.py │ ├── nav_sim.py │ ├── odom_pub.py │ └── servo_commands.py └── worlds ├── corridor.world ├── light.world ├── plant.world ├── robocup_home.world ├── simple.world ├── slam_simple.world └── wpb_simple.world /.catkin_workspace: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yzhperseverance/carlike_planner/HEAD/.catkin_workspace -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yzhperseverance/carlike_planner/HEAD/.gitignore -------------------------------------------------------------------------------- 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