This is a global path planner in the form of a ros package.
The package is implemented in python. The algorithm used is the Probabilistic Roadmap with Djikstra's search.
The scripts
folder consists of four python programs:
- PRMPlanner.py : Implementation class for the PRM algorithms
- goal_node.py : A helper node to manage
/start
and/goal
topics - main.py : Main application program
- ogm_to_mat.py : Helper class to parse/process occupancy grid data from the
map_server
pkg.
roslaunch planning_assignment planning_assignment.launch
roslaunch planning_assignment planning_assignment.launch map:=/path/to/map/yaml
Use 2D Pose Estimate
and 2D Nav Goal
tools in rviz for obtaining start and goal points on the map.