This is the Motion Planning Final Project created by Yukyu Chan and Hanlong Chen.
The simulation is built on top of Dawei Zhang's Geomagic Touch teleoperator project: Haptic-shared-control:GitHub Pages. The haptic-shared-control project provided us with the platform to simulate the environment we would later build our algorithm on.
In order to run the simulation: Open the Geomagic Touch interface:
roslaunch geomagic_control geomagic.launch
Create the environmnt by running:
rosrun using_markers using_markers
rosrun using_markers static_obstacles
Run the manager:
rosrun planner manager_v2.py
Run RRT*:
rosrun planner rrt_star
Run Potential field:
rosrun planner potential_field.py