5156a8d766
- 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)
28 lines
854 B
XML
28 lines
854 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>car_nav_lite</name>
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<version>0.1.0</version>
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<description>Lightweight Ackermann car navigation (A* + DWA-MPC + dead-reckoning + ICP)</description>
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<maintainer email="user@example.com">cyy</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>std_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>tf2</depend>
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<depend>tf2_ros</depend>
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<depend>Eigen3</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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