A ROS package with python implementations of a few common planning algorithms
Clone, build and source:
cd catkin_ws/src
git clone https://github.com/nkhedekar/motion_planners.git
cd ..
catkin build
source devel/setup.bash
Run: (On seperate terminals)
roscore
rosrun motion_planners rrt_star.py
rosrun motion_planners master_planner.py
rviz
Add a MarkerArray to rviz and set the appropriate topic
Note: Collision checking and sample space need to be implemented as required