wgx-chanshi/body_planner

body_planner

原库地址：https://github.com/jcnorby/global_body_planner

global_body_planner used for ROS2

install dependencies

1.sudo apt install ros-humble-tf2

2.sudo apt install ros-humble-tf2-geometry-msgs

3.sudo apt install ros-humble-grid-map

4.sudo apt install ros-humble-rviz

build

git clone git@github.com:wgx-chanshi/body_planner.git

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

run

run planner

source install/setup.bash

ros2 launch global_body_planner global_body_planner_launch.py

run rviz

source install/setup.bash

ros2 launch robot_visualization rviz.launch.py