This ROS package hosts the global planner for the MuSHR system. It wraps a search-based planner from SBPL. Search based methods have two parts - first, the planning problem and environment must be represented by a graph, and then the graph must be searched from a starting point to a goal. This MuSHR global planner builds upon the SBPL repo by Search-Based Planning Lab at Carnegie Mellon University. MuSHR specifically makes use of the ARA* planning algorithm and plans on an implicit graph in a SE2 (x, y, θ) state space.
The following tutorial goes through installing/running the car.
Make sure you install pysbpl into your ~/catkin_ws/src. Note that pysbpl depends on SBPL. Please make sure you follow the instructions in the pysbpl repo to install all necessary dependencies first.
Clone this repo into ~/catkin_ws/src
Make sure that you have the tf dependency installed: sudo apt install ros-melodic-tf
You should be good to go!
| Topic | Type | Description |
|---|---|---|
/path_topic |
geometry_msgs/Path | The trajectory computed by the planner. |
| Topic | Type | Description |
|---|---|---|
/map |
nav_msgs/OccupancyGrid | Uses the provided occupancy grid as the graph for planning. |
/goal_topic |
geometry_msgs/PoseStamped | Goal to compute path to. |
/start_topic |
geometry_msgs/PoseStamped | Starting location of the path being computed. |