/Local_Planner

This repository is an implementation of a simple robot local planner using ompl libraries

Primary LanguageCMake

Local Planner Using OMPL

This repository consists of my attempts in learning ompl libraries for robot planning (based on ompl tuturials).

Dependencies

  • Boost (version 1.54 or higher)
  • CMake (version 2.8.7 or higher)
  • Eigen (version 3.3 or higher)
  • Assimp (version 3.0.1270 or higher)
  • FCL (version 0.3.1 or higher)
  • OMPL (version 1.3.3 or higher)

Installing Dependencies:

To install Boost, run the following command:

sudo apt-get update
sudo apt-get install libboost-all-dev

To install Cmake, run the following command:

sudo apt-get update
sudo apt-get install build-essential
sudo apt-get install cmake

To install Eigen, run the following command:

sudo apt install libeigen3-dev

To install Assimp, run the following command:

sudo apt-get install assimp-utils

To install FCL, run the following command:

sudo apt-get install libccd-dev # FCL Dependency
git clone https://github.com/flexible-collision-library/fcl
cd fcl
mkdir build
cd build
cmake ..
make -jN # N is the maximum number of parallel compile jobs
sudo make install

To install OMPL libraries, run the following command:

git clone https://github.com/ompl/omplapp.git
cd omplapp
git clone https://github.com/ompl/ompl.git
mkdir -p build/Release
cd build/Release
cmake ../..
make -jN # N is the maximum number of parallel compile jobs
sudo make install

How to run

After running rosnode ompl_planner_node, publish start and goal states in SE3 (as nav/msgs) and the planner will start working.