/Motion-Planning-RRT

Primary LanguagePython

Motion-Planning-RRT

Environment

Implementations

1. RRT Algorithm on a .pgm file

I have implemented the RRT Algorithm on a .pgm file of a 2D occupancy grid map generated using Hector-SLAM

To run the code:

  • In the file RRT.py change the path to the .pgm file of the map in the lines 131,132,133 according to your system.
  • Go to the directory containing RRT.py file and run the python script using the command python3 RRT.py

Results:

2. RRT Algorithm on Sahayak

I have implemented the RRT Algorithm using Sahayak as a base robot. I have previously worked on it hence I used the same robot as a base to test the algorithm.

To run the code:

  • Build the Sahayak Robot as per the instructions given in GitHub Repository.
  • Run roslaunch sahayak launch_all.launch
  • Run rosrun sahayak_mapping odom-pub.py
  • Add the RRT_ros.py to the sahayak_navigation/src folder
  • Run rosrun sahayak_navigation RRT_ros.py
  • Use 2D Nav Goal in RVIZ to give a goal to Sahayak.

Results: