roslaunch car_model spawn_car.launch rviz roslaunch lqr_steering frenet_lqr.launch
source devel/setup.sh roslaunch car_model spawn_car.launch roslaunch purepursuit splinepath.launch roslaunch purepursuit purepursuit.launch rviz 中add /splinepoints /rvizpath /smart（在rviz显示中，红色为小车运动轨迹，绿色为规划模块给出的轨迹）