cyy/car_nav_lite
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MPPI planner + fence-line localization + scan obstacles

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- Lightweight MPPI (200 trajectories, 15 steps, endpoint path_align)
- adaptive exploration (more random when stuck)
- fence-line Hough detection + geometric correction
- scan hit points marked at 255 immediately
- forward half-step pre-check for obstacle avoidance
- Ackermann constraint |wz| <= |vx|/min_turn_r
- XORshift RNG (stdlib broken on ARM)
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cyy
2026-07-02 21:29:41 +00:00
commit 5156a8d766
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>car_nav_lite</name>
<version>0.1.0</version>
<description>Lightweight Ackermann car navigation (A* + DWA-MPC + dead-reckoning + ICP)</description>
<maintainer email="user@example.com">cyy</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>sensor_msgs</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>Eigen3</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>