/path_planning

Primary LanguageC++

path_planning

A Path planning and visualization tool based on ROS. Tested on Ubuntu 20.04 and ROS Noetic

Currently supported algorithms:

  • RRT*

Dependencies

  • OMPL
  • Dynamic Reconfigure

Usage

  1. A static tf publisher for simplicity
rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 1.0 base_link map 1000
  1. Starting the node
rosrun path_planning path_planning_node

  1. Use rqt to configure dynamic parameters

  2. Use the following service

rosservice call /input_params -- start_x start_y end_x end_y

Note that the type of the service parameters are double

Dynamic Reconfigure Parameters

  • Number_of_Obstacles
  • Radius_of_Obstacles
  • Randomize_Obstacle_Radius
  • RRTstar_Range
  • Cost_Threshold
  • Max_Solution_Time