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CppRobotics

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Cpp implementation of robotics algorithms including localization, path planning, path tracking and control, inspired by PythonRobotics and MotionPlanning.

📌Requirement

  • CMake
  • Eigen3
  • fmt
  • for MPC convex optimization （alternative）
    • CppAD & IPOPT
    • osqp & osqp-eigen

Because this project uses matplotlib-cpp for visualization, you also need to ensure that you have Python3.x, and contain the following packages:

  • matplotlib
  • numpy

You can find install-tips for some third-party libraries here.

🛠Build

git clone [email protected]:PuYuuu/CppRobotics.git
cd CppRobotics
mkdir build && cd build
cmake ..
make -j6

Find all the executable files in $workspace/bin. By the way, all code development and debugging of this project are completed under WSL2. Currently, WSL2 natively supports GUI on Win10/Win11 without any configuration. For details, refer to gui-apps .

🎈Animations

Perception

PathPlanning

GlobalPlanner

Search_based Planning
Sampling_based Planning

LocalPlanner

CurvesGenerator

PathTracking

Control

🧾Licence

MIT

cpprobotics's People

Contributors

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0000duck hzw4868 lxjlu simonzhaobin marker-yu liguanzeng jason07709 bobo0722 castle-boy timothijoe raspberryxiao lolmech shanhai5218

cpprobotics's Issues

部分执行文件运行会报错

好像是有关draw_vehicle的部分：
./hybrid_astar: symbol lookup error: ./hybrid_astar: undefined symbol: _ZN5utils12draw_vehicleEN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEdNS_13VehicleConfigENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEbb

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