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path_optimizer_2

  • Software
  • Cars
  • Library

A ROS path planning package for autonomous driving vehicles that optimizes a collision-free trajectory from a reference path, successor to the older path_optimizer project.

Source on GitHub: github.com/LiJiangnanBit/path_optimizer_2 (opens in a new tab). Facts read at commit 1fd8701 (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 1fd8701 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Successor to the earlier path_optimizer package, with a higher success rate in dense or complicated environments.
  • Uses a simpler problem formulation than the earlier version.
  • Returns a candidate result when no collision-free solution exists.
  • Demo loads a black-and-white PNG as a grid map and lets you pick a reference path, start state and goal state in RViz.
  • Reference path points are chosen with the Publish Point tool; the goal is picked with 2D Nav Goal and is not strictly required to be reached.
  • Simulation videos show dynamic environments and complex static obstacles.

Written by Robotheca from the project's README (opens in a new tab) at commit 1fd8701.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
ROS Kinetic on Ubuntu 16.04 or ROS Melodic on Ubuntu 18.04, plus glog, gflags, osqp-eigen, grid_map, ros_viz_tools and tinyspline_ros.

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
30 Nov 2025 on master
Latest release
None published on GitHub

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.