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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: image

NOTE

  • fix leng per traj

TODO

  • no solution scenrios need to handle