/ros-cubic-trajectories

My ROS package that automatically generates point-to-point cubic trajectories connecting pairs of randomly generated points

Primary LanguageCMakeMIT LicenseMIT

Point-to-point cubic trajectories connecting pairs of randomly generated points in ROS:

ROS package that automatically generates point-to-point cubic trajectories connecting pairs of randomly generated points. After running a single launch file you should be able see different random trajectories appearing on the rqt_plot GUI (i.e. a different set of trajectories every 20 seconds).

To run the package:

  • Download the package into your catkin workspace, if you do not have a catkin workspace, follow the following link

  • From your catkin workspace:

    catkin_make

  • After your workspace is ready, you need to make all of the nodes executable, run the following comands from the "scripts" folder containing all the nodes

    chmod +x plot_cubic_traj.py
chmod +x points_generator.py
chmod +x compute_cubic_coeffs.py
chmod +x plot_cubic_traj.py

  • You can now launch the package by running:

    roslaunch AR_week5_test cubic_traj_gen.launch

  • After 20 seconds, if you run:

    rqt_graph

    You should be able to see the visual representation of how the package works:

    Graph

  • To visulise the trajectories, run: (don't forget to add position_trajectory, velocity_trajectory and acceleration_trajectory topics in the GUI)

  • rqt_plot

List of Dependencies:

  • python 2.7
  • catkin
  • ros-kinetic
  • rqt
  • NumPy

Everything else you need to know is in the comments.

Star, fork, do your thing.