MRSL Motion Primitive Library ROS

A ROS wrapper for Motion Primitive Library v1.2. Video of the original paper of "Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control" has been uploaded at the follwing link: youtube. The package is still under maintenance, the API may change occasionally, please use git log to track the latest update.

Packages:

motion_primitive_library: back-end for planning trajectory in various environments
planning_ros_msgs: ROS msgs used in storing, visualizing and communicating
planning_ros_utils: ROS utils for interfacing with MPL, it also includes mapping and rviz plugins
DecompROS: tool for convex decomposition and visualization
mpl_external_planner: several planners that build on the motion_primitive_library
mpl_test_node: example ROS nodes (see following Examples)

Installation

Dependancy:

ROS(Indigo+)
catkin_simple

Compile

Before compiling, make sure submodules are on their corresponding commits. To initialize the submodule motion_primitive_library and DecompROS, run following commands:

$ cd /PATH/TO/mpl_ros
$ git submodule update --init --recursive

1) Using Catkin:

$ mv mpl_ros ~/catkin_ws/src
$ cd ~/catkin_ws & catkin_make_isolated -DCMAKE_BUILD_TYPE=Release

2) Using Catkin Tools (recommended):

$ mv mpl_ros ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin config -DCMAKE_BUILD_TYPE=Release
$ catkin b

Example Usage

The planner inside mpl_ros including:

OccMapPlanner: uses 2D occupancy grid map
VoxelMapPlanner: uses 3D voxel grid map
EllipsoidPlanner: uses 3D point cloud and models robot as ellipsoid in SE(3)
PolyMapPlanner2D: uses 2D polygonal map and moving obstacles

Following examples demonstrate some of these planners:

Example 1 (plan in occ/voxel map)

Simple test using the built-in data in a voxel map can be run using the following commands:

$ cd ./mpl_test_node/launch/map_replanner_node
$ roslaunch rviz.launch
$ roslaunch test.launch

Then, you can set a new goal and then replan by running:

$ ./set_goal.sh
$ ./replan.sh

The planning results are visualized in Rviz as following:

2D Occ Map	3D Voxel Map

katetolstaya/mpl_ros