Li Jiangnan

Done:smile:

没有试过这个哈 我只在16.04上运行过~

> excuse me ,can you give me a idea about solving the problem"E1224 16:40:23.179859 6428 path_optimizer.cpp:51] Path optimization FAILED! W1224 16:40:23.081485 6428 reference_path_smoother.cpp:529] Ref is short: 1, quit POST SMOOTHING."....

@lxa199709 The simulator is V-rep (now CoppeliaSim https://www.coppeliarobotics.com/). You can get the coordinates of the lidar point clouds and project them onto the gridmap.

Hi :smile: I'll write a wiki about the details soon. I'll let you know when it's done.

I wrote a simple [wiki](https://github.com/LiJiangnanBit/path_optimizer/wiki) here. @Sollimann @cyscgzx33

Indeed. But it's simpler :)

 Maybe you should build it under "/home/rgs/Desktop/1.code/demo/workspace" instead of "/home/rgs/Desktop/1.code/demo/workspace/src/path_optimizer". Hope this helps.

Hi, I'm not sure what "stich path" is. If you mean the strategy to keep the path stable between planning cycles, like what Apollo does, maybe it should be considered...

That's a good point. :+1: