pplanner

This is a portable planner for ground robots.

Notably, the codes of this work is cumbersome and no longer maintained as our attention is paied to improve the efficiency by another algorithms which is coming soon.

Dependencies

These instructions assume that ROS desktop-full of the appropriate ROS distro is installed.

Install necessary libraries:

grid_map (grid map library for mobile robots)

sudo apt-get install ros-noetic-grid-map-core ros-noetic-grid-map-msgs

elevation_mapping_cupy The test_carved_stair branch is used in my experiment and the original elevation_mapping_cupy also can be used.
pplanner_msgs The msg and srv files which would be in cluded into this pack in the future.
pplanner_ui The ui files which would be in cluded into this pack in the future.

Build

mkdir -p pplanner_ws/src/
git clone git@github.com:YinghaoJia98/pplanner.git
catkin build -DCMAKE_BUILD_TYPE=Release

Run

Simulation

Intstall the simulator

pplanner_simulator

Run the demo

cd pplanner_ws
catkin build -DCMAKE_BUILD_TYPE=Release
source devel/setup.bash
roslaunch pplanner_simulator PplannerSmbCeshi2ForPplanner.launch
roslaunch pplanner pplanner_simulator.launch

Parameters

The config file is pplanner_settings_simulator.yaml.

The subscribed topics for mapping:

grid_map_topic
elevation_layer
traversability_layer
traversability_supplementary_layer
world_frame
track_frame

The subscribed topics for tracker:

World_Frame
Robot_Frame

The published topics:

cmd_topic_

Experiments Videos

Thanks

The robots used in simulator is reorganized from GBP. Benifiting from the robotics community and we choose to make our work public.

Contact us

Yinghao Jia
Wei Tang

YinghaoJia98/pplanner_released