seb_naver

SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain

Paper: https://arxiv.org/abs/2503.02412

Video: https://www.bilibili.com/video/BV1yBRpYmEmX/

Dependence

ackermann-msgs

sudo apt-get install ros-noetic-ackermann-msgs

casadi

install ipopt first

git clone https://github.com/casadi/casadi.git
cd casadi 
mkdir build & cd build
cmake .. & make
sudo make install

Run

catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3

source devel/setup.zsh

roslaunch plan_manage multi_sim.launch