frenet-planner 1.0.0__tar.gz

frenet_planner-1.0.0/.clang-format

@@ -0,0 +1,5 @@
+BasedOnStyle: Google
+ColumnLimit: 110
+DerivePointerAlignment: false
+PointerAlignment: Left
+IncludeBlocks: Regroup

frenet_planner-1.0.0/.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,13 @@
+---
+name: Bug report
+about: Something does not work as documented
+labels: bug
+---
+
+**What happened**
+
+**How to reproduce** (scenario / bag / minimal Python snippet, planner type, config)
+
+**Expected behaviour**
+
+**Environment** (OS, install method: pip / ROS 2 distro / ROS 1, version)

frenet_planner-1.0.0/.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,11 @@
+---
+name: Feature request
+about: Suggest an improvement
+labels: enhancement
+---
+
+**Use case**
+
+**Proposed solution**
+
+**Alternatives considered**

frenet_planner-1.0.0/.github/release.yml

@@ -0,0 +1,19 @@
+changelog:
+  exclude:
+    labels: [ignore-for-release]
+    authors: [dependabot, pre-commit-ci]
+  categories:
+    - title: Planning
+      labels: [planner, behaviour, prediction]
+    - title: Maps and routing
+      labels: [map, lanelet2]
+    - title: Optimization and control
+      labels: [smoother, mpc, control]
+    - title: Integrations
+      labels: [ros1, ros2, python, carla, commonroad]
+    - title: Bug fixes
+      labels: [bug]
+    - title: Documentation
+      labels: [documentation]
+    - title: Other changes
+      labels: ["*"]

frenet_planner-1.0.0/.github/workflows/core.yml

@@ -0,0 +1,49 @@
+name: core
+
+on:
+  push:
+    branches: [main, v1-modernize]
+  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    name: ${{ matrix.compiler }} / ${{ matrix.build }}
+    runs-on: ubuntu-24.04
+    strategy:
+      fail-fast: false
+      matrix:
+        compiler: [gcc, clang]
+        build: [RelWithDebInfo, Sanitize]
+    env:
+      CC: ${{ matrix.compiler == 'gcc' && 'gcc' || 'clang' }}
+      CXX: ${{ matrix.compiler == 'gcc' && 'g++' || 'clang++' }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y ninja-build libeigen3-dev libyaml-cpp-dev libgtest-dev libbenchmark-dev
+      - name: Configure
+        run: >
+          cmake -S . -B build -G Ninja
+          -DCMAKE_BUILD_TYPE=${{ matrix.build == 'Sanitize' && 'Debug' || matrix.build }}
+          -DFRENET_PLANNER_BUILD_TESTS=ON -DFRENET_PLANNER_BUILD_BENCHMARKS=ON
+          -DFRENET_PLANNER_SANITIZE=${{ matrix.build == 'Sanitize' && 'ON' || 'OFF' }}
+      - name: Build
+        run: cmake --build build
+      - name: Test
+        run: ctest --test-dir build --output-on-failure
+      - name: Benchmark smoke run
+        if: matrix.build != 'Sanitize'
+        run: ./build/core/bench/frenet_planner_bench --benchmark_min_time=0.05s
+
+  pixi:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: prefix-dev/setup-pixi@v0.8.1
+        with:
+          cache: true
+      - run: pixi run test

frenet_planner-1.0.0/.github/workflows/docs.yml

@@ -0,0 +1,20 @@
+name: docs
+
+on:
+  push:
+    branches: [main]
+    paths: ["docs/**", "mkdocs.yml", "README.md"]
+
+permissions:
+  contents: write
+
+jobs:
+  deploy:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+      - run: pip install "mkdocs<2" "mkdocs-material<10"
+      - run: mkdocs gh-deploy --force

frenet_planner-1.0.0/.github/workflows/python.yml

@@ -0,0 +1,97 @@
+name: python
+
+on:
+  push:
+    branches: [main, v1-modernize]
+    tags: ["v*"]
+  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    runs-on: ubuntu-24.04
+    strategy:
+      fail-fast: false
+      matrix:
+        python: ["3.10", "3.11", "3.12", "3.13"]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python }}
+      - name: Build and install
+        run: pip install ".[test]" -v
+      - name: Test
+        run: |
+          cd /tmp && python -c "import frenet_planner as fp; assert fp.has_optimizers()"
+          pytest -q ${{ github.workspace }}/python/tests
+
+  commonroad-demo:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+      - run: pip install ".[commonroad]"
+      - name: Fetch pinned scenarios
+        run: python benchmarks/commonroad/fetch_scenarios.py --subset hand-crafted --out data/cache/scenarios
+      - name: Closed-loop benchmark (smoke)
+        run: |
+          python -m frenet_planner.commonroad.benchmark --scenarios data/cache/scenarios/hand-crafted \
+            --limit 20 --seed 1 --jobs 4 --out results/ci.csv
+          python - <<'PY'
+          import pandas as pd
+          df = pd.read_csv("results/ci.csv")
+          assert (df.status != "error").all(), df[df.status == "error"]
+          print(df.groupby("planner").success.mean())
+          PY
+
+  wheels:
+    if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'push'
+    strategy:
+      matrix:
+        os: [ubuntu-24.04, ubuntu-24.04-arm, macos-14]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: pypa/cibuildwheel@v2.23.3
+        env:
+          CIBW_BUILD: "cp310-* cp311-* cp312-* cp313-*"
+          CIBW_SKIP: "*-musllinux_* *-win32 *_i686"
+          # Current NumPy ships Linux wheels for manylinux_2_28 only (glibc >= 2.28).
+          CIBW_MANYLINUX_X86_64_IMAGE: manylinux_2_28
+          CIBW_MANYLINUX_AARCH64_IMAGE: manylinux_2_28
+          CIBW_TEST_REQUIRES: pytest
+          CIBW_TEST_COMMAND: "pytest -q {project}/python/tests -k 'not embedded_msg'"
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.os }}
+          path: wheelhouse/*.whl
+
+  sdist:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - run: pipx run build --sdist
+      - uses: actions/upload-artifact@v4
+        with:
+          name: sdist
+          path: dist/*.tar.gz
+
+  publish:
+    if: startsWith(github.ref, 'refs/tags/v')
+    needs: [test, wheels, sdist]
+    runs-on: ubuntu-24.04
+    environment: pypi
+    permissions:
+      id-token: write  # PyPI trusted publishing
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          path: dist
+          merge-multiple: true
+      - uses: pypa/gh-action-pypi-publish@release/v1

frenet_planner-1.0.0/.github/workflows/ros.yml

@@ -0,0 +1,54 @@
+name: ros
+
+on:
+  push:
+    branches: [main, v1-modernize]
+  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  ros2:
+    name: ROS 2 ${{ matrix.distro }}
+    runs-on: ubuntu-${{ matrix.ubuntu }}
+    timeout-minutes: 60
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - {distro: jazzy, ubuntu: "24.04"}
+          - {distro: humble, ubuntu: "22.04"}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ matrix.distro }}
+      - name: Install dependencies
+        run: |
+          source /opt/ros/${{ matrix.distro }}/setup.bash
+          rosdep update --rosdistro ${{ matrix.distro }}
+          rosdep install --from-paths core msgs ros/ros2 --ignore-src -y -r --rosdistro ${{ matrix.distro }}
+      - name: Build
+        run: |
+          source /opt/ros/${{ matrix.distro }}/setup.bash
+          colcon build --base-paths core msgs ros/ros2 --event-handlers console_cohesion+ \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release
+      - name: Test
+        run: |
+          source /opt/ros/${{ matrix.distro }}/setup.bash
+          colcon test --base-paths core msgs ros/ros2 --packages-select frenet_planner_ros2 \
+            --event-handlers console_direct+
+          colcon test-result --verbose
+
+  ros1:
+    name: ROS 1 noetic (RoboStack)
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: prefix-dev/setup-pixi@v0.8.1
+        with:
+          environments: noetic
+          cache: true
+      - run: pixi run -e noetic ros1-test

frenet_planner-1.0.0/.gitignore

@@ -0,0 +1,34 @@
+# Build trees
+build/
+build-*/
+install/
+log/
+devel/
+logs/
+_skbuild/
+dist/
+*.egg-info/
+wheelhouse/
+
+# Pixi / Python
+.pixi/
+__pycache__/
+*.pyc
+.pytest_cache/
+.ruff_cache/
+
+# Benchmark outputs (results tables are committed under docs/ instead)
+/results/
+data/cache/
+*.mcap
+*.db3
+
+# Editors / OS
+.vscode/
+.idea/
+*.user
+*~
+.DS_Store
+python/frenet_planner/*.so
+build-ros2-ws/
+build-ros1-ws/

frenet_planner-1.0.0/.pre-commit-config.yaml

@@ -0,0 +1,20 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-added-large-files
+        args: [--maxkb=2000]
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.7
+    hooks:
+      - id: clang-format
+        types_or: [c++]
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.9.6
+    hooks:
+      - id: ruff
+        args: [--fix]
+      - id: ruff-format

frenet_planner-1.0.0/CHANGELOG.md

@@ -0,0 +1,59 @@
+# Changelog
+
+## 1.0.0 — unreleased
+
+The first release of the unified planner family: FOP, FOP+, FISS (RA-L 2022) and FISS+ (IROS 2023)
+in one code base.
+
+### Planning
+- ROS-agnostic C++17 core with four interchangeable planners behind one interface (`makePlanner`)
+  and a full pipeline (`LocalPlanner`):
+  - route corridor;
+  - stitching;
+  - target-speed policy;
+  - fail-safe fallbacks (previous plan, emergency braking).
+- Exact time-domain Frenet ↔ Cartesian conversion; arc-length reference lines of any length.
+- Werling-style cost with an admissible end-state estimate (used by FISS/FISS+).
+- Kinematic, road-boundary and oriented-box collision validation against time-stamped predictions;
+  parallel validation for FOP/FOP+.
+- Keeping distance:
+  - per-lane car following (the speed that closes the gap to the desired headway);
+  - proximity cost: headway, time to collision and lateral clearance;
+  - a hard safety envelope ("virtual bumper": minimum gap, headway and TTC) with a reaction-time
+    grace for cut-ins.
+- Map-aware lane-following prediction, and predictions for obstacles that arrive with only their
+  current state.
+- Fallback ladder: previous plan, a re-plan over a shorter collision horizon, then emergency braking.
+- Explainability: per-reason rejection counts, the obstacle that blocked the cheapest candidate, and
+  gap / headway / TTC to the vehicle ahead in every cycle's statistics.
+
+### Maps
+- Lane-level `RoadMap` with adapters for Lanelet2 (C++), CommonRoad and CARLA (Python), providing:
+  - per-lane sampling on real lane geometry;
+  - lane-change legality;
+  - speed and curvature limits;
+  - route urgency;
+  - traffic-light stop lines.
+
+### Optimization and control (optional, OSQP)
+- Piecewise-jerk QP smoother inside a space–time driving corridor.
+- LTV-MPC tracking controller with steering-rate limits; Stanley+PID baseline; kinematic bicycle
+  simulator.
+
+### Integrations
+- Python package `frenet-planner` (nanobind) with a CommonRoad benchmark, ROS 2 bag tools and a CARLA
+  closed-loop runner.
+- ROS 2 (`frenet_planner_ros2`, component nodes) and ROS 1 (`frenet_planner_ros1`) wrappers;
+  `frenet_planner_msgs` builds for both.
+- Runtime planner switching through ROS 2 parameters, `dynamic_reconfigure` or Python.
+- Scene markers and an RViz 2 configuration (ROS 2).
+- Foxglove: MCAP recording (or live streaming) of CARLA and CommonRoad runs with a ready-made layout.
+
+### Quality
+- Test suites:
+  - GoogleTest, including sanitizer builds;
+  - pytest;
+  - ROS 2 gtest;
+  - ROS 1 rostest.
+- CI for all of the above and for wheels.
+- Reproducible benchmarks with pinned scenario sets.

frenet_planner-1.0.0/CITATION.cff

@@ -0,0 +1,50 @@
+cff-version: 1.2.0
+message: "If you use this software, please cite it and the FISS / FISS+ papers."
+title: "frenet_planner: fast sampling-based Frenet trajectory planners (FOP, FISS, FISS+)"
+type: software
+version: 1.0.0
+license: Apache-2.0
+repository-code: "https://github.com/SS47816/frenet_planner"
+authors:
+  - family-names: Sun
+    given-names: Shuo
+references:
+  - type: article
+    title: "FISS: A Trajectory Planning Framework Using Fast Iterative Search and Sampling Strategy for Autonomous Driving"
+    authors:
+      - {family-names: Sun, given-names: Shuo}
+      - {family-names: Liu, given-names: Zhiyang}
+      - {family-names: Yin, given-names: Huan}
+      - {family-names: Ang, given-names: Marcelo H.}
+    journal: IEEE Robotics and Automation Letters
+    volume: 7
+    issue: 4
+    start: 9985
+    end: 9992
+    year: 2022
+    doi: 10.1109/LRA.2022.3191940
+  - type: conference-paper
+    title: "FISS+: Efficient and Focused Trajectory Generation and Refinement Using Fast Iterative Search and Sampling Strategy"
+    authors:
+      - {family-names: Sun, given-names: Shuo}
+      - {family-names: Chen, given-names: Jie}
+      - {family-names: Sun, given-names: Jiawei}
+      - {family-names: Yuan, given-names: Chengran}
+      - {family-names: Li, given-names: Yuanchen}
+      - {family-names: Zhang, given-names: Tangyike}
+      - {family-names: Ang, given-names: Marcelo H.}
+    collection-title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
+    start: 10527
+    end: 10534
+    year: 2023
+    doi: 10.1109/IROS55552.2023.10341498
+  - type: conference-paper
+    title: "Optimal trajectory generation for dynamic street scenarios in a Frenét Frame"
+    authors:
+      - {family-names: Werling, given-names: Moritz}
+      - {family-names: Ziegler, given-names: Julius}
+      - {family-names: Kammel, given-names: Sören}
+      - {family-names: Thrun, given-names: Sebastian}
+    collection-title: IEEE International Conference on Robotics and Automation (ICRA)
+    year: 2010
+    doi: 10.1109/ROBOT.2010.5509799

frenet_planner-1.0.0/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.16)
+project(frenet_planner_superbuild LANGUAGES CXX)
+
+# Top-level entry point for standalone (non-ROS) builds and for the Python
+# package. ROS builds use core/, msgs/ and ros/* directly as packages.
+option(FRENET_PLANNER_BUILD_PYTHON "Build the Python bindings" OFF)
+
+enable_testing()
+add_subdirectory(core)
+
+if(FRENET_PLANNER_BUILD_PYTHON)
+  add_subdirectory(python)
+endif()

frenet_planner-1.0.0/CODE_OF_CONDUCT.md

@@ -0,0 +1,16 @@
+# Code of Conduct
+
+This project follows the [Contributor Covenant, version 2.1](https://www.contributor-covenant.org/version/2/1/code_of_conduct/).
+
+In short: be welcoming, be respectful of differing viewpoints and experience levels, give and accept
+constructive feedback gracefully, and focus on what is best for the community. Harassment, personal
+attacks, trolling and publishing others' private information are not acceptable in issues, pull
+requests, discussions or any other project space.
+
+## Reporting
+
+If you experience or witness unacceptable behaviour, contact the maintainers privately through the
+contact options on the [maintainer's GitHub profile](https://github.com/SS47816). Reports are
+handled confidentially. Maintainers may remove, edit or reject comments, commits, code and issues
+that do not follow this code of conduct, and may temporarily or permanently ban contributors who do
+so repeatedly.

frenet_planner-1.0.0/CONTRIBUTING.md

@@ -0,0 +1,29 @@
+# Contributing
+
+Thanks for helping! Bug reports with a minimal reproduction (a CommonRoad scenario, a bag, or a
+few lines of Python) are the most useful thing you can send.
+
+## Development setup
+
+[pixi](https://pixi.sh) provides every toolchain without root:
+
+| Task | Command |
+|---|---|
+| C++ core + tests | `pixi run test` |
+| with ASan/UBSan | `pixi run test-asan` |
+| micro-benchmarks | `pixi run bench-micro` |
+| Python bindings + tests | `pixi run -e bench py-test` |
+| CommonRoad benchmark | `pixi run -e bench cr-bench --scenarios <dir>` |
+| ROS 2 build + tests | `pixi run -e jazzy ros2-test` |
+| ROS 1 build + tests | `pixi run -e noetic ros1-test` |
+
+## Guidelines
+
+- The core (`core/`) must stay ROS-free and dependency-light (C++17 standard library,
+  yaml-cpp, optional OSQP).
+- Every bug fix comes with a regression test; every new planner feature with a test in
+  `core/test/` and, if user-visible, a benchmark run (`benchmarks/`).
+- Format with `pre-commit run --all-files` (clang-format, ruff).
+- Commit messages follow [Conventional Commits](https://www.conventionalcommits.org).
+- New planners: subclass `Planner` (see `core/src/planners.hpp`), register in `makePlanner`,
+  add the type to `PlannerType`, and they are available in Python and both ROS wrappers.