XJU-AUTOPILOT is an autonomous driving framework built on ROS2 Iron Docker. This framework currently focuses primarily on decision-making and planning module, while other modules such as perception, prediction, and control are implemented through simulation. We provide Docker images and code for relevant practitioners to study and use.

Table of Contents

• Installation
• Getting Started
• License
• Citation

Install VS Code and Docker

# Download code and make cache directory
git clone https://github.com/Mr-Tony921/xju-autopilot.git
mkdir cache/iron && cd cache/iron && mkdir build log install && cd ../..

Open directory in VS Code, then reopen in remote container, downloading and compiling docker image may take some time.

# Test environment
source /opt/ros/iron/setup.bash
rviz2

# Basic example of how to build and run
colcon build
./src/pnc/script/simulation.sh -p

All resources in XJU-AUTOPILOT are licensed under fully permissive licenses (e.g., Apache-2.0).

If you use XJU-AUTOPILOT or docker image, consider citing the following publication:

@inproceedings{tony2024xju-autopilot,
  title={xju-autopilot: An Autonomous Driving Framework},
  author={Tony},
  url={https://github.com/Mr-Tony921/xju-autopilot.git},
  year={2024}
}