Run-TOGT-Planner

This Python package provides an interface to run the Time-Optimal Gate-Traversing (TOGT) Planner, originally a C++ project.

With this package, you can generate random racetracks and plan paths using the TOGT Planner. It supports looping to generate a large number of high-quality trajectories that prioritize dynamic feasibility.

Installations

1. Clone TOGT-Planner

git clone https://github.com/FSC-Lab/TOGT-Planner.git
cd TOGT-Planner/
git checkout f69f3fc9143b02b58bd6a66dc12a531395bf5317

Note: Please check out to the commit from May 15, 2024 (commit f69f3fc9143b02b58bd6a66dc12a531395bf5317, Correct plotting bugs) for a stable version.

2. Clone the Repository and install the package

cd ${YOUR_TOGT_PLANNER_PATH}
git clone https://github.com/KafuuChikai/Run-TOGT-Planner.git
cd Run-TOGT-Planner/

It is recommended to use Conda to create a virtual environment. If you do not use Conda, ensure Poetry is installed.

conda create -n togt_env python=3.8
conda activate togt_env

Install the package

pip install --upgrade pip
pip install -e .

3. Modify CMakeLists.txt

Add the following code after line 247:

add_executable(planners Run-TOGT-Planner/traj_planner/traj_planner_togt.cpp)
target_compile_options(planners PRIVATE
  -fno-finite-math-only
  -Wall                   # Show all warnings
  -Wextra                 # Show extra error information
  -Wpedantic              # Issue all the warnings demanded by strict ISO C and ISO C++
  -Werror                 # Raise all warnings to errors
  -Wunused                # Warn whatever is assigned to, but unused
  -Wno-unused-parameter
  -Wundef                 # Warn if an undefined identifier is evaluated in an #if directive. 
  -Wcast-align            # Warn whenever a pointer is cast such that the required alignment of the target is increased
  -Wmissing-declarations  # Warn if a global function is defined without a previous declaration
  -Wmissing-include-dirs  # Warn if a user-supplied include directory does not exist.
  -Wnon-virtual-dtor      
  -Wredundant-decls       # Warn if anything is declared more than once in the same scope
  -Wodr
  -Wunreachable-code
  -Wno-unknown-pragmas
)
target_link_libraries(planners
        ${LIBRARY_NAME}
        $<$<AND:$<CXX_COMPILER_ID:GNU>,$<VERSION_LESS:$<CXX_COMPILER_VERSION>,9.0>>:stdc++fs>
        )

4. Build the Project

Navigate to the TOGT-Planner directory, configure the project, and compile:

cd ${YOUR_TOGT_PLANNER_PATH}/
mkdir build
cd build
cmake ..
make

5. Run the Example Script

• Show predefined trajectory

python ${YOUR_TOGT_PLANNER_PATH}/Run-TOGT-Planner/examples/plan_race_example.py

• Show random trajectory

python ${YOUR_TOGT_PLANNER_PATH}/Run-TOGT-Planner/examples/random_race_example.py

If you want to learn more, refer to Tools.

Visualizations

1. Predefined trajectory

You can get a predefined trajectory below:

2. Random trajectories

The random trajectory examples:

3. 3D trajectories with Tube

Update: Plot 3D trajectories and visulize with Tube.

Tools

1. RaceGenerator
2. RaceVisualizer