Motion Primitives Planning Package

A ROS package for simulation. Given a graph and traversal order, and a set of motion primitives, compute the optimal trajectory satisfying the kinematic constraints and visualized in gazebo and rviz.

Requirements

ROS Kinetic or later
Ubuntu 16.04 or later

Installation

Create a new workspace:

mkdir -p ~/motion_primitive_planning/src
cd ~/motion_primitive_planning/src
catkin_init_workspace

Clone the package into the workspace:

git clone https://github.com/HyPAIR/motion_primitive_planning.git

Build the workspace:

cd ..
catkin_make
source devel/setup.bash

If fail to build the workspace, install dependencies:

cd src/motion_primitive_planning
rosdep install motion_primitive_planner
cd ..

Then, back to step3 and try again.

Usage

Compute the optimal trajectory

Save the data.json file to ~/motion_primitive_planning/src/motion_primitive_planning/data/.

Launch the node to compute the optimal trajectory:

roslaunch motion_primitive_planning compute_optimal_traj.launch

Launch the node to visulize the trajectory in simulation:
```
roslaunch motion_primitive_planning visualize.launch
```

Test the real robot in rviz and gazebo

Launch the node to visulize the robot in gazebo and rviz:
```
roslaunch mir_examples single_mir_100.launch 
```

Launch the node to visualize the map

roslaunch motion_primitive_planning visualize_real.launch

Launch the node to let the robot track the given trajectory

roslaunch motion_primitive_planning sarah_traj_tracking.launch