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Pure pursuit controller and Reeds-Shepp sampling based planner for navigation in SE(2) space. This package has beenmainly intended for car-like vehicles, although it can be used with mobile bases too.

How is this package different from other SE(2) planning/control packages?

• Provides planning and control for car like vehicles which are non-holonomic
• Correctly handles both forward and reverse driving
• Allows joint path and approach pose planning when we only know approximate target location
• Comes with a minimal set of dependencies
• Core algorithmics is separated from ros dependent code
• Tested on real-hardware
• Comes with a car example
• Integrated withgrid_map package
• Features visualizatios and rviz planning interface
• Easily extensible
• Supports dynamic reconfigure for controller tuning

Warning: At the moment, this planning and control framework uses geometric planners which makes it unsuitable forhigh-speed driving. It is meant to be used for slow maneuvers, e.g. parking maneuvers.

Released underBSD 3-Clause license.

Author: Edo Jelavic

Maintainer: Edo Jelavic,jelavice@ethz.ch

Navigation with prius	Navigation with Menzi Muck M545

Navigation with Spacebok

The code inside this repo has been developed as a part of our research on autonomous precision harvesting. The paper canbe foundhere. If you are using packages from se2_navigation, please add thefollowing citation to your publication:

Jelavic, E., Jud, D., Egli, P. and Hutter, M., 2021. Towards Autonomous Robotic Precision Harvesting. arXiv preprintarXiv:2104.10110.

@article{jelavic2021towards,     title   = {Towards Autonomous Robotic Precision Harvesting},     author  = {Jelavic, Edo and Jud, Dominic and Egli, Pascal and Hutter, Marco},     journal = {arXiv preprint arXiv:2104.10110},     year    = {2021}}

This package is split into smaller units each of which features it's own README. Follow these links for more info:

• car_demo
• pure_pursuit_core
• pure_pursuit_ros
• se2_navigation_msgs
• se2_planning
• se2_planning_ros
• se2_planning_rviz
• se2_visualization_ros
• approch_pose_planner
• approach_pose_planner_ros

Refer tocar_demo for the details.Refer toapproach_pose_planner if you are interestedin approach pose planning.

Run the main demo with:
roslaunch car_demo demo_autonomous.launch
Seecar_demo for the details.

• Mobile base demo