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License: MIT License

CMake 2.98% C++ 95.51% Python 1.47% C 0.04%

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epsilon's Issues

Intersection Map

Regarding to your code, where is the intersection map that is applied and illustrated in Fig. 1 (a) in your paper?

I can't find it under the repository.

Use newest protocol , compile fail

which version of protocol should be choosen?

build a demo

How can I use this repo to build a demo ?
Is there any tutorial or something like it ?

Can this solution constrain the curvature of the trajectory?

Can this solution constrain the curvature of the trajectory? If, how to solve it? otherwise, why? Thank you.

how to launch simulation properly

I set up all launch files I can in this project, agents in the sim have no actions except moving forward.
What role can a joystick play in the sim?
Looking forward to a tutorial :)

Is it appropriate to replan using state on `executing_traj_` at current plan cyccle's terminal timestamp?

Hi, I'm reading yours great Epsilon paper but I don't get enough background knowdege to fully understand this paper. Some content makes me confused. Hope to get some feedbacks.

Is it proper to replan using state on executing_traj_ at current plan cyccle's terminal timestamp`?
Code in the link is as following:
```
  if (executing_traj_->GetState(t, &desired_state) != kSuccess) {
    printf("[SscPlannerServer]Cannot get desired state at %lf.\n", t);
    return;
  }
```
It uses state on executing_traj_ at current plan cyccle's terminal timestamp to replan? I think it's better to use ego's real state instead of state on executing_traj_. Right?
Is it necessay to run ssc traj planner after eudm?
Decision part (eudm) already gives ego's forward trajectories in closed loop simulations. Is it necessay to run ssc traj planner after eudm?
As far as I know, trajectories given by edum already considers ego's kinematics constraints (by using idm and mobil model to generate latitude and longitude behavior, then pure persuit control model giving proper control commands) and surrounding obstacles (by collision checking).

lack elfutils/libdw.h

How to fix the problem with lacing of elfutils/libdw.h

About formula in spline_generator

I noticed that Line 443 in spline_generator.cc writes "Q = 2 * (Q + P);"

I wonder why this is the case? I think it's fine to multiply Q by 2 but we also need to multiply c by 2 as well, otherwise the objective function is not as expected.

Could you please take a look and explain to me? Thanks!

EPSILON apply to real vehicle platform

Currently, simulation demo have been successfully run, and I plan to test them on real cars，while My code reading ability is limited, I would like to ask for your technical support if possible！How to apply the software algorithm to the real vehicle platform testing, what steps are required. how to make the vector map?

What is the interactive multi-agent simulation platform proposed in this paper?

Compilation Error: libhkust_pl_ssc.so: undefined reference to `google::protobuf::

I encountered some link errors refer to protobuf when compiling to the link stage.

Missing Dependencies for spatiotemporal_semantic_corridor

Hi,
According to the CMakeLists.txt in ssc_planner, some packages are still missing such as:

behavior_planner
pubg_planner
onlane_motion_planner

Also, while I tried to build the workspace, the following errors appeared:

(base) amr@amr-G5-5587:~/catkin_ws$ catkin_make
Base path: /home/amr/catkin_ws
Source space: /home/amr/catkin_ws/src
Build space: /home/amr/catkin_ws/build
Devel space: /home/amr/catkin_ws/devel
Install space: /home/amr/catkin_ws/install
####
#### Running command: "cmake /home/amr/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/amr/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/amr/catkin_ws/install -G Unix Makefiles" in "/home/amr/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/amr/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/amr/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/amr/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/amr/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.28
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 11 packages in topological order:
-- ~~  - playgrounds
-- ~~  - common
-- ~~  - vehicle_model
-- ~~  - forward_simulator
-- ~~  - motion_predictor
-- ~~  - vehicle_msgs
-- ~~  - phy_simulator
-- ~~  - semantic_map_manager
-- ~~  - route_planner
-- ~~  - behavior_planner
-- ~~  - ssc_planner
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'playgrounds'
-- ==> add_subdirectory(core/playgrounds)
-- +++ processing catkin package: 'common'
-- ==> add_subdirectory(core/common)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0") 
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find Glog (missing: GLOG_INCLUDE_DIR GLOG_LIBRARY)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  core/common/cmake/FindGlog.cmake:40 (find_package_handle_standard_args)
  core/common/CMakeLists.txt:24 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/amr/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/amr/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
(base) amr@amr-G5-5587:~/catkin_ws$ catkin_make
Base path: /home/amr/catkin_ws
Source space: /home/amr/catkin_ws/src
Build space: /home/amr/catkin_ws/build
Devel space: /home/amr/catkin_ws/devel
Install space: /home/amr/catkin_ws/install
####
#### Running command: "cmake /home/amr/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/amr/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/amr/catkin_ws/install -G Unix Makefiles" in "/home/amr/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/amr/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/amr/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/amr/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/amr/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.28
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 11 packages in topological order:
-- ~~  - playgrounds
-- ~~  - common
-- ~~  - vehicle_model
-- ~~  - forward_simulator
-- ~~  - motion_predictor
-- ~~  - vehicle_msgs
-- ~~  - phy_simulator
-- ~~  - semantic_map_manager
-- ~~  - route_planner
-- ~~  - behavior_planner
-- ~~  - ssc_planner
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'playgrounds'
-- ==> add_subdirectory(core/playgrounds)
-- +++ processing catkin package: 'common'
-- ==> add_subdirectory(core/common)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find Glog (missing: GLOG_INCLUDE_DIR GLOG_LIBRARY)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  core/common/cmake/FindGlog.cmake:40 (find_package_handle_standard_args)
  core/common/CMakeLists.txt:24 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/amr/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/amr/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
(base) amr@amr-G5-5587:~/catkin_ws$

How to access the neural network module?

Hi, I read the code but i can hardly find the definitions of neural network modules (encoder and decoder in intention estimator) and the parameters. It seems that the neural network modules are not included in encoder.h and decoder.h.
And is it possible to change the structure of encoders or decoders?
Besides, how to train my own decoders and encoders?

where is the road boundry

I read the code and there are some questions I can't understand.
in the file ssc_map.cc , function SscMap::ConstructSscMap use obstacle_grids to build static part of p_3d_grid，but I can't find where the lane boundry transform to obstacle_grids, Can you give me a hint ?

Does this release support nudge?

Hi,@MasterIzumi
I used the demo to test the nudge function, but the performance was not very good. The ego car directly changed lanes to avoid obstacles. Will the released code version consider the nudge function? Or give me a tip on how I can optimize it.

Is formula CalculateSafeLongitudinalVelocity::c missing minimum gap s0?

Compared to the formula in the book, it takes into account the velocity change over the reaction time, but seems to forget to take into account the minimum spacing. P184, (11.9)

Is there any formulation about conditional focused branching in this repo.

Process died after roslaunch

Hi,
when i run roslaunch planning_integrated test_ssc_with_eudm_ros.launch, the process just died.
env: Ubuntu 18.04
log:

NODES
/
test_ssc_with_eudm_0 (planning_integrated/test_ssc_with_eudm)

ROS_MASTER_URI=http://localhost:11311

process[test_ssc_with_eudm_0-1]: started with pid [22092]

[ConfigLoader] Loading vehicle set
terminate called after throwing an instance of 'nlohmann::detail::parse_error'
what(): [json.exception.parse_error.101] parse error at line 1, column 1: syntax error while parsing value - unexpected end of input; expected '[', '{', or a literal
Stack trace (most recent call last):
#14 Object "/lib/x86_64-linux-gnu/ld-2.27.so", at 0xffffffffffffffff, in
#13 Object "/home/caros/code/epsilon_ws/devel/lib/planning_integrated/test_ssc_with_eudm", at 0x5588b16fbf59, in start
#12 Source "../csu/libc-start.c", line 310, in libc_start_main [0x7f9a8f5c0bf6]
#11 Source "/home/caros/code/epsilon_ws/src/EPSILON/app/planning_integrated/src/test_ssc_with_eudm.cc", line 71, in main [0x5588b16fb2e8]
68: }
69:
70: semantic_map_manager::SemanticMapManager semantic_map_manager(
> 71: ego_id, agent_config_path);
72: semantic_map_manager::RosAdapter smm_ros_adapter(nh, &semantic_map_manager);
73: smm_ros_adapter.BindMapUpdateCallback(SemanticMapUpdateCallback);
#10 Source "/home/caros/code/epsilon_ws/src/EPSILON/core/semantic_map_manager/src/semantic_map_manager.cc", line 11, in SemanticMapManager [0x7f9a903e865b]
8: p_config_loader = new ConfigLoader();
9: p_config_loader->set_ego_id(ego_id);
10: p_config_loader_->set_agent_config_path(agent_config_path_);
> 11: p_config_loader_->ParseAgentConfig(&agent_config_info_);
12: global_timer_.tic();
13: }
#9 | Source "/home/caros/code/epsilon_ws/src/EPSILON/core/semantic_map_manager/src/config_loader.cc", line 12, in operator>>
| 10: std::fstream fs(agent_config_path_);
| 11: Json root;
| > 12: fs >> root;
| 13:
| 14: Json agent_config_json = root["agent_config"];
Source "/home/caros/code/epsilon_ws/src/EPSILON/core/common/thirdparty/json/json.hpp", line 20946, in ParseAgentConfig [0x7f9a90405325]
20943: /
20944: friend std::istream& operator>>(std::istream& i, basic_json& j)
20945: {
>20946: parser(detail::input_adapter(i)).parse(false, j);
20947: return i;
20948: }
#8 Source "/home/caros/code/epsilon_ws/src/EPSILON/core/common/thirdparty/json/json.hpp", line 8767, in parse [0x7f9a904134c7]
8764: else
8765: {
8766: json_sax_dom_parser sdp(result, allow_exceptions);
>8767: sax_parse_internal(&sdp);
8768: result.assert_invariant();
8769:
8770: // in strict mode, input must be completely read
#7 Source "/home/caros/code/epsilon_ws/src/EPSILON/core/common/thirdparty/json/json.hpp", line 8995, in sax_parse_internal<nlohmann::detail::json_sax_dom_parser<nlohmann::basic_json<> > > [0x7f9a90411fee]
8992: return sax->parse_error(m_lexer.get_position(),
8993: m_lexer.get_token_string(),
8994: parse_error::create(101, m_lexer.get_position(),
>8995: exception_message(token_type::literal_or_value, "value")));
8996: }
8997: }
8998: }
#6 Source "/home/caros/code/epsilon_ws/src/EPSILON/core/common/thirdparty/json/json.hpp", line 4816, in parse_error [0x7f9a90408353]
4813: switch ((ex.id / 100) % 100)
4814: {
4815: case 1:
>4816: JSON_THROW(static_cast<const detail::parse_error>(&ex));
4817: case 4:
4818: JSON_THROW(static_cast<const detail::out_of_range>(&ex));
4819: // LCOV_EXCL_START
#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f9a8fc3ad53, in __cxa_throw
#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f9a8fc3ab20, in std::terminate()
#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f9a8fc3aae5, in
#2 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f9a8fc34956, in
#1 Source "/build/glibc-S9d2JN/glibc-2.27/stdlib/abort.c", line 79, in abort [0x7f9a8f5df920]
#0 Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7f9a8f5ddfb7]
Aborted (Signal sent by tkill() 22092 1001)
[test_ssc_with_eudm_0-1] process has died [pid 22092, exit code -6, cmd /home/caros/code/epsilon_ws/devel/lib/planning_integrated/test_ssc_with_eudm ~arena_info_static:=/arena_info_static ~arena_info_dynamic:=/arena_info_dynamic ~ctrl:=/ctrl/agent_0 __name:=test_ssc_with_eudm_0 __log:=/home/caros/.ros/log/3dad14cc-6851-11ec-82ac-2cf05dcb5434/test_ssc_with_eudm_0-1.log].
log file: /home/caros/.ros/log/3dad14cc-6851-11ec-82ac-2cf05dcb5434/test_ssc_with_eudm_0-1.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete

how to deal with pedestrian or some insane npc

in the paper, it assumes npc car will pursuit the lane, it is right in most of cases， but sometimes it is not , such as pedestrian want to cross the road，or a insane npc who don't care lane at all ,what will ego acting to this?

How to generate inequality constraints for the slope of the s(t) function?

Compile error with eudm_planner

Hi,
I encounter compilation problems. When I compile, the following errors occur. Could you please give me a detailed document on how to compile and use enum_ planner.
Thank you very much.

make[2]: *** No rule to make target '/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/util/eudm_planner/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'EPSILON-master/util/eudm_planner/eudm_config.pb.cc'。 停止。

More details

wang@wang-ROG-Strix-G531GW-S5DW:~/ROS/G_A_V/epsilon$ catkin_make
Base path: /home/wang/ROS/G_A_V/epsilon
Source space: /home/wang/ROS/G_A_V/epsilon/src
Build space: /home/wang/ROS/G_A_V/epsilon/build
Devel space: /home/wang/ROS/G_A_V/epsilon/devel
Install space: /home/wang/ROS/G_A_V/epsilon/install
####
####Running command: "cmake /home/wang/ROS/G_A_V/epsilon/src -DCATKIN_DEVEL_PREFIX=/home/wang/ROS/G_A_V/epsilon/devel -DCMAKE_INSTALL_PREFIX=/home/wang/ROS/G_A_V/epsilon/install -G Unix Makefiles" in "/home/wang/ROS/G_A_V/epsilon/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/wang/ROS/G_A_V/epsilon/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.12", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/wang/ROS/G_A_V/epsilon/build/test_results
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.12") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 15 packages in topological order:
-- ~~  - playgrounds
-- ~~  - common
-- ~~  - vehicle_model
-- ~~  - forward_simulator
-- ~~  - motion_predictor
-- ~~  - vehicle_msgs
-- ~~  - aux_tools
-- ~~  - phy_simulator
-- ~~  - semantic_map_manager
-- ~~  - route_planner
-- ~~  - behavior_planner
-- ~~  - ai_agent_planner
-- ~~  - eudm_planner
-- ~~  - ssc_planner
-- ~~  - planning_integrated
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'playgrounds'
-- ==> add_subdirectory(EPSILON-master/core/playgrounds)
-- +++ processing catkin package: 'common'
-- ==> add_subdirectory(EPSILON-master/core/common)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found glog    (include: /usr/local/include, library: /usr/local/lib/libglog.a)
-- Found OOQP include dirs: /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/include/ooqp
-- Found OOQP libraries: /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgensparse.a;/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpsparse.a;/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgondzio.a;/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpbase.a;/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libma27.a;blas;gfortran
-- Found OOQP
-- Found NLOPT include dirs: /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/include
-- Found NLOPT libraries: /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib/libnlopt.so
-- Found NLOPT
-- +++ processing catkin package: 'vehicle_model'
-- ==> add_subdirectory(EPSILON-master/core/vehicle_model)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'forward_simulator'
-- ==> add_subdirectory(EPSILON-master/core/forward_simulator)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'motion_predictor'
-- ==> add_subdirectory(EPSILON-master/core/motion_predictor)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'vehicle_msgs'
-- ==> add_subdirectory(EPSILON-master/core/vehicle_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- vehicle_msgs: 17 messages, 0 services
-- +++ processing catkin package: 'aux_tools'
-- ==> add_subdirectory(EPSILON-master/aux_tools)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'phy_simulator'
-- ==> add_subdirectory(EPSILON-master/core/phy_simulator)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'semantic_map_manager'
-- ==> add_subdirectory(EPSILON-master/core/semantic_map_manager)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'route_planner'
-- ==> add_subdirectory(EPSILON-master/core/route_planner)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'behavior_planner'
-- ==> add_subdirectory(EPSILON-master/core/behavior_planner)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'ai_agent_planner'
-- ==> add_subdirectory(EPSILON-master/util/ai_agent_planner)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'eudm_planner'
-- ==> add_subdirectory(EPSILON-master/util/eudm_planner)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:418 (message):
  catkin_package() include dir
  '/home/wang/ROS/G_A_V/epsilon/build/EPSILON-master/util/eudm_planner'
  should be placed in the devel space instead of the build space
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  EPSILON-master/util/eudm_planner/CMakeLists.txt:30 (catkin_package)


-- +++ processing catkin package: 'ssc_planner'
-- ==> add_subdirectory(EPSILON-master/util/ssc_planner)
-- Try OpenMP C flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: -fopenmp  
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:418 (message):
  catkin_package() include dir
  '/home/wang/ROS/G_A_V/epsilon/build/EPSILON-master/util/ssc_planner' should
  be placed in the devel space instead of the build space
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  EPSILON-master/util/ssc_planner/CMakeLists.txt:28 (catkin_package)


-- +++ processing catkin package: 'planning_integrated'
-- ==> add_subdirectory(EPSILON-master/app/planning_integrated)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/wang/ROS/G_A_V/epsilon/build
####
#### Running command: "make -j12 -l12" in "/home/wang/ROS/G_A_V/epsilon/build"
####
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_Lane
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_VehicleParam
Scanning dependencies of target geometry_msgs_generate_messages_eus
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_ArenaInfo
Scanning dependencies of target std_msgs_generate_messages_eus
Scanning dependencies of target hkust_pl_ooqp_itf
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_ObstacleSet
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_State
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_Circle
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_ArenaInfoDynamic
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_PolygonObstacle
Scanning dependencies of target nav_msgs_generate_messages_eus
[  0%] Built target geometry_msgs_generate_messages_eus
[  0%] Built target nav_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_eus
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_Vehicle
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_OccupancyGridFloat
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_FreeState
[  0%] Built target _vehicle_msgs_generate_messages_check_deps_ObstacleSet
[  0%] Built target _vehicle_msgs_generate_messages_check_deps_VehicleParam
[  0%] Built target _vehicle_msgs_generate_messages_check_deps_ArenaInfo
[  0%] Built target _vehicle_msgs_generate_messages_check_deps_Lane
[  0%] Built target _vehicle_msgs_generate_messages_check_deps_State
[  0%] Built target _vehicle_msgs_generate_messages_check_deps_ArenaInfoDynamic
[  0%] Built target _vehicle_msgs_generate_messages_check_deps_Circle
[  0%] Built target _vehicle_msgs_generate_messages_check_deps_PolygonObstacle
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_CircleObstacle
[  1%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_ooqp_itf.dir/src/common/solver/ooqp_interface.cc.o
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_ControlSignal
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_OccupancyGridUInt8
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_LaneNet
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_VehicleSet
Scanning dependencies of target _vehicle_msgs_generate_messages_check_deps_ArenaInfoStatic
[  1%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_ooqp_itf.dir/src/common/solver/qp_solver.cc.o
Scanning dependencies of target std_msgs_generate_messages_lisp
[  1%] Built target _vehicle_msgs_generate_messages_check_deps_Vehicle
[  1%] Built target _vehicle_msgs_generate_messages_check_deps_OccupancyGridFloat
[  1%] Built target std_msgs_generate_messages_lisp
Scanning dependencies of target nav_msgs_generate_messages_lisp
[  1%] Built target _vehicle_msgs_generate_messages_check_deps_FreeState
Scanning dependencies of target geometry_msgs_generate_messages_lisp
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[  1%] Built target _vehicle_msgs_generate_messages_check_deps_ControlSignal
[  1%] Built target nav_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_cpp
[  1%] Built target _vehicle_msgs_generate_messages_check_deps_CircleObstacle
[  1%] Built target _vehicle_msgs_generate_messages_check_deps_OccupancyGridUInt8
[  1%] Built target _vehicle_msgs_generate_messages_check_deps_ArenaInfoStatic
[  1%] Built target _vehicle_msgs_generate_messages_check_deps_VehicleSet
[  1%] Built target geometry_msgs_generate_messages_cpp
[  1%] Built target _vehicle_msgs_generate_messages_check_deps_LaneNet
[  1%] Built target geometry_msgs_generate_messages_lisp
Scanning dependencies of target nav_msgs_generate_messages_cpp
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[  1%] Built target std_msgs_generate_messages_cpp
Scanning dependencies of target nav_msgs_generate_messages_py
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[  1%] Built target std_msgs_generate_messages_py
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[  1%] Built target nav_msgs_generate_messages_cpp
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[  1%] Built target nav_msgs_generate_messages_nodejs
[  1%] Built target std_msgs_generate_messages_nodejs
[  2%] Generating Lisp code from vehicle_msgs/State.msg
[  2%] Generating EusLisp code from vehicle_msgs/State.msg
[  3%] Generating Lisp code from vehicle_msgs/Circle.msg
[  3%] Generating Lisp code from vehicle_msgs/Vehicle.msg
Scanning dependencies of target vehicle_msgs_generate_messages_cpp
[  4%] Generating EusLisp code from vehicle_msgs/Vehicle.msg
[  4%] Generating Lisp code from vehicle_msgs/ArenaInfo.msg
[  5%] Generating Lisp code from vehicle_msgs/ObstacleSet.msg
[  5%] Generating Lisp code from vehicle_msgs/ArenaInfoDynamic.msg
Scanning dependencies of target vehicle_msgs_generate_messages_py
[  6%] Generating C++ code from vehicle_msgs/State.msg
[  7%] Generating Python from MSG vehicle_msgs/State
[  7%] Generating EusLisp code from vehicle_msgs/Circle.msg
[  7%] Generating C++ code from vehicle_msgs/Vehicle.msg
[  8%] Generating C++ code from vehicle_msgs/Circle.msg
Scanning dependencies of target vehicle_msgs_generate_messages_nodejs
[  8%] Generating Python from MSG vehicle_msgs/Vehicle
[  9%] Generating Lisp code from vehicle_msgs/CircleObstacle.msg
[ 10%] Generating Python from MSG vehicle_msgs/Circle
[ 10%] Generating Javascript code from vehicle_msgs/State.msg
[ 11%] Generating Javascript code from vehicle_msgs/Vehicle.msg
[ 13%] Generating EusLisp code from vehicle_msgs/ArenaInfoDynamic.msg
[ 13%] Generating Python from MSG vehicle_msgs/ArenaInfoDynamic
[ 13%] Generating Javascript code from vehicle_msgs/Circle.msg
[ 15%] Generating Javascript code from vehicle_msgs/ArenaInfoDynamic.msg
[ 16%] Generating Lisp code from vehicle_msgs/ArenaInfoStatic.msg
[ 16%] Generating Lisp code from vehicle_msgs/PolygonObstacle.msg
[ 16%] Generating Python from MSG vehicle_msgs/ObstacleSet
[ 16%] Generating Javascript code from vehicle_msgs/ObstacleSet.msg
[ 17%] Generating EusLisp code from vehicle_msgs/ObstacleSet.msg
[ 17%] Generating EusLisp code from vehicle_msgs/ArenaInfo.msg
[ 18%] Generating EusLisp code from vehicle_msgs/CircleObstacle.msg
[ 19%] Generating Python from MSG vehicle_msgs/ArenaInfo
[ 19%] Generating EusLisp code from vehicle_msgs/ArenaInfoStatic.msg
[ 20%] Generating Lisp code from vehicle_msgs/ControlSignal.msg
[ 20%] Generating C++ code from vehicle_msgs/ArenaInfoDynamic.msg
[ 21%] Generating Javascript code from vehicle_msgs/ArenaInfo.msg
[ 22%] Generating Javascript code from vehicle_msgs/CircleObstacle.msg
[ 22%] Generating Javascript code from vehicle_msgs/ArenaInfoStatic.msg
[ 23%] Generating EusLisp code from vehicle_msgs/PolygonObstacle.msg
[ 23%] Generating EusLisp code from vehicle_msgs/ControlSignal.msg
[ 23%] Generating Lisp code from vehicle_msgs/OccupancyGridFloat.msg
[ 24%] Generating EusLisp code from vehicle_msgs/OccupancyGridFloat.msg
[ 25%] Generating Javascript code from vehicle_msgs/PolygonObstacle.msg
[ 25%] Generating Javascript code from vehicle_msgs/ControlSignal.msg
[ 25%] Generating Python from MSG vehicle_msgs/CircleObstacle
[ 26%] Generating Javascript code from vehicle_msgs/OccupancyGridFloat.msg
[ 27%] Generating Lisp code from vehicle_msgs/LaneNet.msg
[ 29%] Generating EusLisp code from vehicle_msgs/LaneNet.msg
[ 29%] Generating EusLisp code from vehicle_msgs/VehicleParam.msg
[ 30%] Generating Python from MSG vehicle_msgs/ArenaInfoStatic
[ 32%] Generating C++ code from vehicle_msgs/ObstacleSet.msg
[ 32%] Generating EusLisp code from vehicle_msgs/FreeState.msg
[ 32%] Generating C++ code from vehicle_msgs/ArenaInfo.msg
[ 32%] Generating Javascript code from vehicle_msgs/LaneNet.msg
[ 32%] Generating Lisp code from vehicle_msgs/VehicleParam.msg
[ 33%] Generating C++ code from vehicle_msgs/CircleObstacle.msg
[ 33%] Generating EusLisp code from vehicle_msgs/VehicleSet.msg
[ 34%] Generating EusLisp code from vehicle_msgs/OccupancyGridUInt8.msg
[ 34%] Generating Python from MSG vehicle_msgs/PolygonObstacle
[ 34%] Generating EusLisp code from vehicle_msgs/Lane.msg
[ 35%] Generating Javascript code from vehicle_msgs/VehicleParam.msg
[ 36%] Generating Lisp code from vehicle_msgs/FreeState.msg
[ 37%] Generating Python from MSG vehicle_msgs/ControlSignal
[ 38%] Generating EusLisp manifest code for vehicle_msgs
[ 39%] Generating Javascript code from vehicle_msgs/FreeState.msg
[ 39%] Generating Lisp code from vehicle_msgs/VehicleSet.msg
[ 41%] Generating Lisp code from vehicle_msgs/OccupancyGridUInt8.msg
[ 41%] Generating C++ code from vehicle_msgs/ArenaInfoStatic.msg
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[ 43%] Generating Lisp code from vehicle_msgs/Lane.msg
[ 43%] Generating Javascript code from vehicle_msgs/VehicleSet.msg
[ 43%] Generating Python from MSG vehicle_msgs/LaneNet
[ 44%] Generating Python from MSG vehicle_msgs/OccupancyGridFloat
[ 45%] Generating C++ code from vehicle_msgs/ControlSignal.msg
[ 46%] Generating Python from MSG vehicle_msgs/VehicleParam
[ 46%] Built target vehicle_msgs_generate_messages_lisp
[ 46%] Generating Python from MSG vehicle_msgs/FreeState
[ 47%] Generating Python from MSG vehicle_msgs/VehicleSet
[ 48%] Generating Javascript code from vehicle_msgs/OccupancyGridUInt8.msg
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[ 48%] Generating Python from MSG vehicle_msgs/OccupancyGridUInt8
[ 48%] Generating C++ code from vehicle_msgs/OccupancyGridFloat.msg
[ 49%] Generating C++ code from vehicle_msgs/LaneNet.msg
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[ 50%] Generating Python from MSG vehicle_msgs/Lane
[ 51%] Generating C++ code from vehicle_msgs/FreeState.msg
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[ 52%] Built target vehicle_msgs_generate_messages_nodejs
[ 52%] Generating C++ code from vehicle_msgs/OccupancyGridUInt8.msg
[ 53%] Generating C++ code from vehicle_msgs/Lane.msg
[ 54%] Generating Python msg __init__.py for vehicle_msgs
[ 54%] Built target vehicle_msgs_generate_messages_cpp
[ 54%] Built target vehicle_msgs_generate_messages_py
[ 54%] Built target vehicle_msgs_generate_messages_eus
Scanning dependencies of target vehicle_msgs_generate_messages
[ 54%] Built target vehicle_msgs_generate_messages
[ 55%] Linking CXX shared library /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_ooqp_itf.so
/usr/bin/c++  -fPIC -std=c++11  -g -O3 -Wall -O3 -Wall  -shared -Wl,-soname,libhkust_pl_ooqp_itf.so -o /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_ooqp_itf.so CMakeFiles/hkust_pl_ooqp_itf.dir/src/common/solver/ooqp_interface.cc.o CMakeFiles/hkust_pl_ooqp_itf.dir/src/common/solver/qp_solver.cc.o /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpbase.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libma27.a -lblas -lgfortran 
[ 55%] Built target hkust_pl_ooqp_itf
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[ 55%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/basics/colormap.cc.o
[ 55%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/basics/shapes.cc.o
[ 56%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/basics/semantics.cc.o
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[ 60%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/mobil/mobil_model.cc.o
[ 60%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/idm/intelligent_driver_model.cc.o
[ 60%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/spline/lookup_table.cc.o
[ 61%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/mobil/mobil_behavior_prediction.cc.o
[ 62%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/spline/spline_generator.cc.o
[ 63%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/lane/lane.cc.o
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/src/common/basics/tool_func.cc: In function ‘void common::GetResultInVector(const std::vector<std::vector<int> >&, const int&, std::vector<int>*, std::vector<std::vector<int> >*)’:
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/src/common/basics/tool_func.cc:30:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < vec[N].size(); ++i) {
                     ^
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/src/common/basics/tool_func.cc:32:11: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     if (N < vec.size() - 1) {
           ^
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/src/common/basics/tool_func.cc:36:25: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
       for (int i = 0; i < tmp->size(); ++i) {
                         ^
[ 63%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/lane/lane_generator.cc.o
[ 64%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/primitive/frenet_primitive.cc.o
[ 64%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/state/state_transformer.cc.o
[ 65%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/state/free_state.cc.o
[ 65%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/circle_arc/circle_arc.cc.o
[ 66%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/circle_arc/circle_arc_branch.cc.o
[ 67%] Building CXX object EPSILON-master/core/common/CMakeFiles/hkust_pl_common.dir/src/common/trajectory/trajectory_optimizer.cc.o
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/src/common/trajectory/trajectory_optimizer.cc: In static member function ‘static ErrorType common::TrajectoryOptimizer::Optimize(common::FrenetTrajectory*)’:
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/src/common/trajectory/trajectory_optimizer.cc:68:17: warning: unused variable ‘result’ [-Wunused-variable]
   nlopt::result result = nlopt_optimizer.optimize(variables, min_f);
                 ^
[ 67%] Linking CXX shared library /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_common.so
/usr/bin/c++  -fPIC -std=c++11  -g -O3 -Wall -O3 -Wall  -shared -Wl,-soname,libhkust_pl_common.so -o /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_common.so CMakeFiles/hkust_pl_common.dir/src/common/basics/colormap.cc.o CMakeFiles/hkust_pl_common.dir/src/common/basics/semantics.cc.o CMakeFiles/hkust_pl_common.dir/src/common/basics/shapes.cc.o CMakeFiles/hkust_pl_common.dir/src/common/basics/tool_func.cc.o CMakeFiles/hkust_pl_common.dir/src/common/math/calculations.cc.o CMakeFiles/hkust_pl_common.dir/src/common/rss/rss_checker.cc.o CMakeFiles/hkust_pl_common.dir/src/common/idm/intelligent_driver_model.cc.o CMakeFiles/hkust_pl_common.dir/src/common/mobil/mobil_model.cc.o CMakeFiles/hkust_pl_common.dir/src/common/mobil/mobil_behavior_prediction.cc.o CMakeFiles/hkust_pl_common.dir/src/common/spline/lookup_table.cc.o CMakeFiles/hkust_pl_common.dir/src/common/spline/spline_generator.cc.o CMakeFiles/hkust_pl_common.dir/src/common/lane/lane.cc.o CMakeFiles/hkust_pl_common.dir/src/common/lane/lane_generator.cc.o CMakeFiles/hkust_pl_common.dir/src/common/primitive/frenet_primitive.cc.o CMakeFiles/hkust_pl_common.dir/src/common/state/state_transformer.cc.o CMakeFiles/hkust_pl_common.dir/src/common/state/free_state.cc.o CMakeFiles/hkust_pl_common.dir/src/common/circle_arc/circle_arc.cc.o CMakeFiles/hkust_pl_common.dir/src/common/circle_arc/circle_arc_branch.cc.o CMakeFiles/hkust_pl_common.dir/src/common/trajectory/trajectory_optimizer.cc.o -ldw /usr/local/lib/libglog.a -lprotobuf /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib/libnlopt.so /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_highgui3.so.3.3.1 /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_ooqp_itf.so /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_videoio3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpbase.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libma27.a -lblas -lgfortran -Wl,-rpath,/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/wang/ROS/G_A_V/epsilon/devel/lib 
[ 67%] Built target hkust_pl_common
Scanning dependencies of target hkust_pl_vehicle_model
[ 67%] Building CXX object EPSILON-master/core/vehicle_model/CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/ideal_steer_model.cc.o
[ 68%] Building CXX object EPSILON-master/core/vehicle_model/CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/vehicle_model.cc.o
[ 69%] Building CXX object EPSILON-master/core/vehicle_model/CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/idm_model.cc.o
[ 70%] Building CXX object EPSILON-master/core/vehicle_model/CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/ctx_idm_model.cc.o
[ 70%] Building CXX object EPSILON-master/core/vehicle_model/CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/controllers/pure_pursuit_controller.cc.o
[ 72%] Building CXX object EPSILON-master/core/vehicle_model/CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/controllers/pid_controller.cc.o
[ 72%] Building CXX object EPSILON-master/core/vehicle_model/CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/controllers/idm_velocity_controller.cc.o
[ 73%] Building CXX object EPSILON-master/core/vehicle_model/CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/controllers/ctx_idm_velocity_controller.cc.o
[ 73%] Linking CXX shared library /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_vehicle_model.so
/usr/bin/c++  -fPIC -std=c++11  -g -O3 -Wall -O3 -Wall  -shared -Wl,-soname,libhkust_pl_vehicle_model.so -o /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_vehicle_model.so CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/vehicle_model.cc.o CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/ideal_steer_model.cc.o CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/idm_model.cc.o CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/ctx_idm_model.cc.o CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/controllers/pure_pursuit_controller.cc.o CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/controllers/pid_controller.cc.o CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/controllers/idm_velocity_controller.cc.o CMakeFiles/hkust_pl_vehicle_model.dir/src/vehicle_model/controllers/ctx_idm_velocity_controller.cc.o /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_common.so -ldw /usr/local/lib/libglog.a -lprotobuf /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib/libnlopt.so /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_highgui3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_videoio3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_ooqp_itf.so /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpbase.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libma27.a -lblas -lgfortran -Wl,-rpath,/home/wang/ROS/G_A_V/epsilon/devel/lib:/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu 
[ 73%] Built target hkust_pl_vehicle_model
Scanning dependencies of target phy_simulator_lib
Scanning dependencies of target hkust_pl_smm
[ 74%] Building CXX object EPSILON-master/core/phy_simulator/CMakeFiles/phy_simulator_lib.dir/src/phy_simulator/arena_loader.cc.o
[ 74%] Building CXX object EPSILON-master/core/phy_simulator/CMakeFiles/phy_simulator_lib.dir/src/phy_simulator/phy_simulator.cc.o
[ 75%] Building CXX object EPSILON-master/core/semantic_map_manager/CMakeFiles/hkust_pl_smm.dir/src/data_renderer.cc.o
[ 75%] Building CXX object EPSILON-master/core/semantic_map_manager/CMakeFiles/hkust_pl_smm.dir/src/semantic_map_manager.cc.o
[ 76%] Building CXX object EPSILON-master/core/semantic_map_manager/CMakeFiles/hkust_pl_smm.dir/src/traffic_signal_manager.cc.o
[ 76%] Building CXX object EPSILON-master/core/semantic_map_manager/CMakeFiles/hkust_pl_smm.dir/src/config_loader.cc.o
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/semantic_map_manager/src/data_renderer.cc: In member function ‘ErrorType semantic_map_manager::DataRenderer::InjectObservationNoise()’:
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/semantic_map_manager/src/data_renderer.cc:78:32: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     for (int i = 0; i < 3 && i < surrounding_ids.size(); i++) {
                                ^
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/semantic_map_manager/src/semantic_map_manager.cc: In member function ‘ErrorType semantic_map_manager::SemanticMapManager::GetLocalLaneUsingLaneIds(const common::State&, const std::vector<int>&, decimal_t, decimal_t, const bool&, common::Lane*)’:
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/semantic_map_manager/src/semantic_map_manager.cc:1167:23: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     for (int i = 1; i < whole_lane_net_.lane_set.at(id).lane_points.size();
                       ^
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/semantic_map_manager/src/semantic_map_manager.cc: In member function ‘ErrorType semantic_map_manager::SemanticMapManager::GetLeadingVehicleOnLane(const common::Lane&, const common::State&, const common::VehicleSet&, const decimal_t&, common::Vehicle*, decimal_t*) const’:
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/semantic_map_manager/src/semantic_map_manager.cc:1348:19: warning: unused variable ‘lane_width’ [-Wunused-variable]
   const decimal_t lane_width = 3.5;
                   ^
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/semantic_map_manager/src/semantic_map_manager.cc:1357:8: warning: unused variable ‘find_occupied’ [-Wunused-variable]
   bool find_occupied = false;
        ^
[ 77%] Linking CXX shared library /home/wang/ROS/G_A_V/epsilon/devel/lib/libphy_simulator_lib.so
/usr/bin/c++  -fPIC -std=c++11  -g -O3 -Wall -O3 -Wall  -shared -Wl,-soname,libphy_simulator_lib.so -o /home/wang/ROS/G_A_V/epsilon/devel/lib/libphy_simulator_lib.so CMakeFiles/phy_simulator_lib.dir/src/phy_simulator/arena_loader.cc.o CMakeFiles/phy_simulator_lib.dir/src/phy_simulator/phy_simulator.cc.o /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_vehicle_model.so /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_common.so -ldw /usr/local/lib/libglog.a -lprotobuf /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib/libnlopt.so /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_highgui3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_videoio3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_ooqp_itf.so /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpbase.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libma27.a -lblas -lgfortran -Wl,-rpath,/home/wang/ROS/G_A_V/epsilon/devel/lib:/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu 
[ 77%] Built target phy_simulator_lib
Scanning dependencies of target phy_simulator_planning_node
[ 77%] Building CXX object EPSILON-master/core/phy_simulator/CMakeFiles/phy_simulator_planning_node.dir/src/phy_simulator_planning_node.cc.o
[ 78%] Building CXX object EPSILON-master/core/phy_simulator/CMakeFiles/phy_simulator_planning_node.dir/src/phy_simulator/visualizer.cc.o
[ 79%] Building CXX object EPSILON-master/core/phy_simulator/CMakeFiles/phy_simulator_planning_node.dir/src/phy_simulator/ros_adapter.cc.o
In file included from /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/semantic_map_manager/inc/semantic_map_manager/semantic_map_manager.h:15:0,
                 from /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/semantic_map_manager/src/semantic_map_manager.cc:1:
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/inc/common/basics/semantics.h: In member function ‘ErrorType semantic_map_manager::SemanticMapManager::UpdateSemanticVehicles()’:
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/inc/common/basics/semantics.h:207:19: warning: ‘max_beh’ may be used uninitialized in this function [-Wmaybe-uninitialized]
     *beh = max_beh;
                   ^
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/inc/common/basics/semantics.h:200:21: note: ‘max_beh’ was declared here
     LateralBehavior max_beh;
                     ^
[ 80%] Linking CXX shared library /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_smm.so
/usr/bin/c++  -fPIC -std=c++11  -g -O3 -Wall -O3 -Wall  -shared -Wl,-soname,libhkust_pl_smm.so -o /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_smm.so CMakeFiles/hkust_pl_smm.dir/src/semantic_map_manager.cc.o CMakeFiles/hkust_pl_smm.dir/src/data_renderer.cc.o CMakeFiles/hkust_pl_smm.dir/src/config_loader.cc.o CMakeFiles/hkust_pl_smm.dir/src/traffic_signal_manager.cc.o /opt/ros/kinetic/lib/libtf.so /opt/ros/kinetic/lib/libtf2_ros.so /opt/ros/kinetic/lib/libactionlib.so /opt/ros/kinetic/lib/libmessage_filters.so /opt/ros/kinetic/lib/libroscpp.so -lboost_filesystem -lboost_signals /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/libtf2.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole_log4cxx.so /opt/ros/kinetic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/libcpp_common.so -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread -lconsole_bridge /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_vehicle_model.so /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_common.so -ldw /usr/local/lib/libglog.a -lprotobuf /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib/libnlopt.so /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_highgui3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_videoio3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_ooqp_itf.so /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpbase.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libma27.a -lblas -lgfortran -Wl,-rpath,/opt/ros/kinetic/lib:/home/wang/ROS/G_A_V/epsilon/devel/lib:/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu 
[ 80%] Built target hkust_pl_smm
make[2]: *** No rule to make target '/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/util/eudm_planner/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'EPSILON-master/util/eudm_planner/eudm_config.pb.cc'。 停止。
CMakeFiles/Makefile2:3921: recipe for target 'EPSILON-master/util/eudm_planner/CMakeFiles/hkust_pl_eudm.dir/all' failed
make[1]: *** [EPSILON-master/util/eudm_planner/CMakeFiles/hkust_pl_eudm.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
make[2]: *** No rule to make target '/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/util/ssc_planner/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'EPSILON-master/util/ssc_planner/ssc_config.pb.cc'。 停止。
CMakeFiles/Makefile2:4065: recipe for target 'EPSILON-master/util/ssc_planner/CMakeFiles/hkust_pl_ssc.dir/all' failed
make[1]: *** [EPSILON-master/util/ssc_planner/CMakeFiles/hkust_pl_ssc.dir/all] Error 2
Scanning dependencies of target hkust_pl_rp
Scanning dependencies of target hkust_smm_ros
[ 80%] Building CXX object EPSILON-master/core/route_planner/CMakeFiles/hkust_pl_rp.dir/src/route_planner/route_planner.cc.o
[ 81%] Building CXX object EPSILON-master/core/semantic_map_manager/CMakeFiles/hkust_smm_ros.dir/src/ros_adapter.cc.o
[ 81%] Building CXX object EPSILON-master/core/semantic_map_manager/CMakeFiles/hkust_smm_ros.dir/src/visualizer.cc.o
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/phy_simulator/src/phy_simulator_planning_node.cc: In function ‘int main(int, char**)’:
/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/phy_simulator/src/phy_simulator_planning_node.cc:118:7: warning: unused variable ‘gt_msg_counter’ [-Wunused-variable]
   int gt_msg_counter = 0;
       ^
[ 82%] Linking CXX shared library /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_rp.so
/usr/bin/c++  -fPIC -std=c++11  -g -O3 -Wall -O3 -Wall  -shared -Wl,-soname,libhkust_pl_rp.so -o /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_rp.so CMakeFiles/hkust_pl_rp.dir/src/route_planner/route_planner.cc.o /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_smm.so /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_vehicle_model.so /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_common.so -ldw /usr/local/lib/libglog.a -lprotobuf /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib/libnlopt.so /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_highgui3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_videoio3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_ooqp_itf.so /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpbase.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libma27.a -lblas -lgfortran /opt/ros/kinetic/lib/libtf.so /opt/ros/kinetic/lib/libtf2_ros.so /opt/ros/kinetic/lib/libactionlib.so /opt/ros/kinetic/lib/libmessage_filters.so /opt/ros/kinetic/lib/libroscpp.so -lboost_filesystem -lboost_signals /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/libtf2.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole_log4cxx.so /opt/ros/kinetic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/libcpp_common.so -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread -lconsole_bridge -Wl,-rpath,/home/wang/ROS/G_A_V/epsilon/devel/lib:/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/opt/ros/kinetic/lib 
[ 82%] Built target hkust_pl_rp
[ 82%] Linking CXX executable /home/wang/ROS/G_A_V/epsilon/devel/lib/phy_simulator/phy_simulator_planning_node
/usr/bin/c++   -std=c++11  -g -O3 -Wall -O3 -Wall   CMakeFiles/phy_simulator_planning_node.dir/src/phy_simulator_planning_node.cc.o CMakeFiles/phy_simulator_planning_node.dir/src/phy_simulator/visualizer.cc.o CMakeFiles/phy_simulator_planning_node.dir/src/phy_simulator/ros_adapter.cc.o  -o /home/wang/ROS/G_A_V/epsilon/devel/lib/phy_simulator/phy_simulator_planning_node -rdynamic /opt/ros/kinetic/lib/libroscpp.so -lboost_filesystem -lboost_signals /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole_log4cxx.so /opt/ros/kinetic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/libcpp_common.so -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread -lconsole_bridge /home/wang/ROS/G_A_V/epsilon/devel/lib/libphy_simulator_lib.so /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_vehicle_model.so /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_common.so -ldw /usr/local/lib/libglog.a -lprotobuf /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib/libnlopt.so /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_highgui3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_videoio3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_ooqp_itf.so /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpbase.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libma27.a -lblas -lgfortran -Wl,-rpath,/opt/ros/kinetic/lib:/home/wang/ROS/G_A_V/epsilon/devel/lib:/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu 
[ 82%] Built target phy_simulator_planning_node
[ 83%] Linking CXX shared library /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_smm_ros.so
/usr/bin/c++  -fPIC -std=c++11  -g -O3 -Wall -O3 -Wall  -shared -Wl,-soname,libhkust_smm_ros.so -o /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_smm_ros.so CMakeFiles/hkust_smm_ros.dir/src/ros_adapter.cc.o CMakeFiles/hkust_smm_ros.dir/src/visualizer.cc.o /opt/ros/kinetic/lib/libtf.so /opt/ros/kinetic/lib/libtf2_ros.so /opt/ros/kinetic/lib/libactionlib.so /opt/ros/kinetic/lib/libmessage_filters.so /opt/ros/kinetic/lib/libroscpp.so -lboost_filesystem -lboost_signals /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/libtf2.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole_log4cxx.so /opt/ros/kinetic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/libcpp_common.so -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread -lconsole_bridge /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_smm.so /opt/ros/kinetic/lib/libtf.so /opt/ros/kinetic/lib/libtf2_ros.so /opt/ros/kinetic/lib/libactionlib.so /opt/ros/kinetic/lib/libmessage_filters.so /opt/ros/kinetic/lib/libroscpp.so -lboost_filesystem -lboost_signals /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/libtf2.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole_log4cxx.so /opt/ros/kinetic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/libcpp_common.so -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread -lconsole_bridge /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_vehicle_model.so /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_common.so -ldw /usr/local/lib/libglog.a -lprotobuf /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib/libnlopt.so /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_highgui3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_videoio3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 /home/wang/ROS/G_A_V/epsilon/devel/lib/libhkust_pl_ooqp_itf.so /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libooqpbase.a /home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/ooqp/lib/libma27.a -lblas -lgfortran -Wl,-rpath,/opt/ros/kinetic/lib:/home/wang/ROS/G_A_V/epsilon/devel/lib:/home/wang/ROS/G_A_V/epsilon/src/EPSILON-master/core/common/thirdparty/nlopt/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu 
[ 83%] Built target hkust_smm_ros
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

the ego car looks like it can only go straight

HI! Thank you for your wonderful work! However, when I try to run your demo, I found that in certain circumstances, such as in the leftmost Lane, when there are vehicles in front of the lane where the self driving vehicle is located, but there are no obstacles in the surrounding lanes, the self driving vehicle only adopts the following strategy, rather than choosing to detour.
In addition, can you explain the meaning of automatic driving level and aggressive level in their respective levels? thank you.

How to simulate the occuslion of perception

Dear author,

In the video you simulated the occuslion of perception, like the picture below. It looks really nice.
Could you please give me some hints on how to implement this in ROS and tell me the corresponding code?

Thanks a lot!
image

Hello, in the lateral distance calculation of RSS, the condition is not fully expanded?

For example, does the equal sign satisfy? A maximum deviation of 0.01 will be caused under the current parameters, resulting in an overall non-smooth result. Did I misunderstand? Or the original design intent.I think in some situations, it may leads to bad motion.

problem of simulate the ego car

I read the code to find when simulate the ego car in one policy in function EgoAgentForwardSim ,and it uses the function PropagateOnceAdvancedLK,it seems like that it ignores the ego.lon_behavior ,then just one step forward with some caculated velocity.

Compile error in Opencv

platform : ubuntu18.04
When compiling whole project you may find that

libhkust_pl_smm.so：对‘cv::fillPoly(cv::InputOutputArray const&, cv::InputArray const&, cv::Scalar const&, int, int, cv::Point)’未定义的引用

Compile error

Hello, I have these errors when compiling, and I can't fix them at the moment, can you see what went wrong

= google::protobuf::internal::ImplicitWeakMessage; Args = {}]’:
/usr/local/include/google/protobuf/implicit_weak_message.h:76:59: required from here
/usr/local/include/google/protobuf/arena.h:243:39: error: no matching function for call to ‘google::protobuf::Arena::(google::protobuf::Arena*&)’
243 | return CreateMessageInternal(arena, std::forward(args)...);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~

_manager.h:5,
from /home/hou/epsilon/src/EPSILON/util/eudm_planner/src/eudm_planner/eudm_manager.cc:1:
/home/hou/epsilon/build/EPSILON/util/eudm_planner/eudm_config.pb.h:131:48: error: ‘Arena’ has not been declared
131 | template<> ::planning::eudm::EvasiveSimDetail* Arena::CreateMaybeMessage<::planning::eudm::EvasiveSimDetail>(Arena*);
| ^~~~~
/home/hou/epsilon/build/EPSILON/util/eudm_planner/eudm_config.pb.h:131:73: error: expected initializer before ‘<’ token
131 | template<> ::planning::eudm::EvasiveSimDetail* Arena::CreateMaybeMessage<::planning::eudm::EvasiveSimDetail>(Arena*);
| ^
/home/hou/epsilon/build/EPSILON/util/eudm_planner/eudm_config.pb.h:132:48: error: ‘Arena’ has not been declared
132 | template<> ::planning::eudm::ForwardSimDetail* Arena::CreateMaybeMessage<::planning::eudm::ForwardSimDetail>(Arena*);
| ^~~~~
/home/hou/epsilon/build/EPSILON/util/eudm_planner/eudm_config.pb.h:132:73: error: expected initializer before ‘<’ token
132 | template<> ::planning::eudm::ForwardSimDetail* Arena::CreateMaybeMessage<::planning::eudm::ForwardSimDetail>(Arena*);
|

where is the navi_path in eudm

i can not find navi_path in eudm, the para of GetRefLaneForStateByBehavior always "std::vector()"

Relocation R_X86_64_PC32 against symbol `_ZTI12SimpleVector' can not be used when making a shared object; recompile with -fPIC

Dear all

A got the following error with catkin_make:

/usr/bin/c++ -fPIC -std=c++11  -g -fPIC -O3 -Wall -O3 -Wall  -shared -Wl,-soname,libhkust_pl_ooqp_itf.so -o 
/home/fabrice/catkin_epsilon/devel/lib/libhkust_pl_ooqp_itf.so CMakeFiles/hkust_pl_ooqp_itf.dir/src/common/solver
/ooqp_interface.cc.o CMakeFiles/hkust_pl_ooqp_itf.dir/src/common/solver/qp_solver.cc.o /home/fabrice
/catkin_epsilon/src/EPSILON/core/common/thirdparty/ooqp/lib/libooqpgensparse.a /home/fabrice/catkin_epsilon
/src/EPSILON/core/common/thirdparty/ooqp/lib/libooqpsparse.a /home/fabrice/catkin_epsilon/src/EPSILON
/core/common/thirdparty/ooqp/lib/libooqpgondzio.a /home/fabrice/catkin_epsilon/src/EPSILON/core/common
/thirdparty/ooqp/lib/libooqpbase.a /home/fabrice/catkin_epsilon/src/EPSILON/core/common/thirdparty/ooqp/lib
/libma27.a -lblas -lgfortran 

/usr/bin/ld: /home/fabrice/catkin_epsilon/src/EPSILON/core/common/thirdparty/ooqp/lib
/libooqpgensparse.a(QpGenSparseSeq.o): relocation R_X86_64_PC32 against symbol `_ZTI12SimpleVector' can not be 
used when making a shared object; recompile with -fPIC

What I did is compile OOQP and copy the requested lib and .h in the corresponding EPSILON directories. But I still have this message asking me to compile with -fPIC - meaning recompile OOQP with -fPIC?

Thank you for your help

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