This is a project based on ZJU Fast lab's ego_planner.

How to use

Go to sourse file folder, and in a terminal you can compile and run:

mkdir build
cd build
cmake ..
make
./ego_planner

Then you will see a window, and you can use listed operation of mouse:

• left button: choose start point
• right button: choose goal point
• middle button: clear start and goal point

Demo

You can see planning result in follow gif:

NOTE

• fix leng per traj

TODO

• no solution scenrios need to handle