Carla Trajectory Controller

Methods

The longitudinal control is implemented with a PID Controller, while the later controller is optional to use one of the three: Pure Pursuit, Stanley and MPC.

Quick Setup

./setup_workspace.sh

Run Demo

Pure Pursuit

roslaunch trajectory_controller trajectory_control_demo.launch control_method:="PurePursuit"

Stanley

roslaunch trajectory_controller trajectory_control_demo.launch control_method:="Stanley"

Pure Pursuit

roslaunch trajectory_controller trajectory_control_demo.launch control_method:="MPC"

Clang Format

An easy way to create the .clang-format file is:

clang-format -style=llvm -dump-config > .clang-format

Available style options are described in Clang-Format Style Options.

Reference

• Coursera: Self-Driving Cars Specialization
• Lane-Keeping-Assist-on-CARLA(Python)
• Three Methods of Vehicle Lateral Control: Pure Pursuit, Stanley and MPC