This was adapted from visualization of the RRT algorithm here
You need to have installed ROS - Robot Operating System in your system.
catkin_make
Source the setup file of the rrt-ros to make the rrt-planning package visible to ros.
source devel/setup.bash
Run roscore in another terminal.
roscore
Then run rrt node as follows.
rosrun rrt-planning prm
You will be now promped to run rviz for visualization. Then run Rviz in another terminal.
rviz
You may also need to use:
rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map base_link 10
Add a marker listener to rviz!
There is also a python interface that implements exactly the code in prmImpl.h.
The parameters you may adjust are numNodes which controls the number of nodes to sample to create the PRM, the number of neighbors to keep in the PRM (k closest nodes).
Below are some examples of runs varying these parameters. The red represents the contstucted roadmap while the yellow is the shortest path from start to goal on this roadmap.
