# dynamic_obstacle_avoidance_planner

**Repository Path**: stStone/dynamic_obstacle_avoidance_planner

## Basic Information

- **Project Name**: dynamic_obstacle_avoidance_planner
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2021-03-23
- **Last Updated**: 2022-10-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# dynamic_obstacle_avoidance_planner
[![Build Status](https://travis-ci.org/amslabtech/dynamic_obstacle_avoidance_planner.svg?branch=master)](https://travis-ci.org/amslabtech/dynamic_obstacle_avoidance_planner)

Collision prediction based dynamic obstacle avoidance planner

## Environment
- Ubuntu16.04 or Ubuntu18.04

## Requirement
- Docker

Using docker is recommended. If you don't want to use docker, see Dockerfile and Reference(below) to setup.

## Install and Build
```
$ cd your/workspace
$ git clone https://github.com/amslabtech/dynamic_obstacle_avoidance_planner.git
$ ./build.sh
```

## How to Use
```
$ run_docker.sh
$ cd catkin_ws && catkin_make

open another terminal

for collision prediction, local costmap generation, and avoidance path planning
$ docker exec -it ros_mpc bash -c "source /ros_entrypoint.sh && roslaunch dynamic_obstacle_avoidance_planner dynamic_obstacle_avoidance_core.launch"
```

## Reference
- https://github.com/coin-or/Ipopt
- https://coin-or.github.io/CppAD/doc/cppad.htm