Globla Planner Based on Bidirectional-RRT*
A global planner based on Bidirectional-RRT*
Use intermidiate points as the global information
Use ROS Occupancy Map
Ubuntu 20.04
ROS Noetic (Read Map)
Build a ROS package named rrt_planner
Replace with the files of this repository
$ catkin_make
$ roslaunch rrt_planner global_planner.launch test:=true
$ python3 ~ /rrt_rl_review_ws/src/rrt_planner/script/rrt_planner_test.py --planner
node.h
: structure of each node
grid_map.h
& grid_map.cpp
: map processing, including collision-checking
rrt_planner.h
& rrt_planner.cpp
: main part of the algorithm
rrt_planner_client.py
: API to use the function of the algorithm through ROS Service (path-planning & map info.)
rrt_planner_test.py
: the main file (test file)
base_global_planner_params.yaml
: parameters setting
red: start
green: destination
cyan: intermediate points.