/RRT_global_planner

ROS noetic global planner plugin for RRT algorithm and its variants. This is my MTech final year project.

Primary LanguageC++

Robot_workspace

Setting up the workspace

$ mkdir robo_ws // create workspace
$ cd robo_ws
$ mkdir src
$ cd src
$ git clone *Repo_Link*
$ cd ..
$ catkin_make 
$ source ./devel/setup.bash

Running the environment

// Running default global planner
$ roslaunch robot_simulation sim_master.launch
// Running default global planner with dynamic window local planner
$ roslanch robot_simulation dwa_sim.launch
// Running RRT global planner
$ roslaunch robot_simulation rrt_sim.launch

Implementing different types of RRT planner

You can change the planner by changing the planner. Change the parameter 'planner_name' in 'robot_simulation/launch/blocks/base_global_planner_rrt.yaml' file. The choices are already available in the file.