{"id":18623277,"url":"https://github.com/mrpt/mrpt_path_planning","last_synced_at":"2025-04-11T03:31:40.922Z","repository":{"id":41185382,"uuid":"184915509","full_name":"MRPT/mrpt_path_planning","owner":"MRPT","description":"Non-holonomic path planning algorithms for 2D robots/vehicles based on 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Linux](https://github.com/jlblancoc/selfdriving/actions/workflows/build-linux.yml/badge.svg)](https://github.com/jlblancoc/selfdriving/actions/workflows/build-linux.yml) [![Documentation Status](https://readthedocs.org/projects/selfdriving/badge/?version=latest)](https://selfdriving.readthedocs.io/en/latest/?badge=latest)\n\n# mrpt_path_planning\n\nPath planning and navigation algorithms for robots/vehicles moving on planar environments. \nThis library builds upon mrpt-nav and the theory behind PTGs to generate libraries of \"motion primitives\"\nfor vehicles with arbitrary shape and realistic kinematics and dynamics.\n\n## Status on ROS build farm\n\n\n| Distro | Build dev | Build releases | Stable version |\n| ---    | ---       | ---            | ---         |\n| ROS 1 Noetic (u20.04) | [![Build Status](https://build.ros.org/job/Ndev__mrpt_path_planning__ubuntu_focal_amd64/badge/icon)](https://build.ros.org/job/Ndev__mrpt_path_planning__ubuntu_focal_amd64/) | [![Build Status](https://build.ros.org/job/Nbin_uF64__mrpt_path_planning__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros.org/job/Nbin_uF64__mrpt_path_planning__ubuntu_focal_amd64__binary/) | [![Version](https://img.shields.io/ros/v/noetic/mrpt_path_planning)](https://index.ros.org/search/?term=mrpt_path_planning) |\n| ROS 2 Humble (u22.04) | [![Build Status](https://build.ros2.org/job/Hdev__mrpt_path_planning__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mrpt_path_planning__ubuntu_jammy_amd64/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt_path_planning__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt_path_planning__ubuntu_jammy_amd64__binary/) | [![Version](https://img.shields.io/ros/v/humble/mrpt_path_planning)](https://index.ros.org/search/?term=mrpt_path_planning) |\n| ROS 2 Iron (u22.04) | [![Build Status](https://build.ros2.org/job/Idev__mrpt_path_planning__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Idev__mrpt_path_planning__ubuntu_jammy_amd64/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt_path_planning__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt_path_planning__ubuntu_jammy_amd64__binary/) | [![Version](https://img.shields.io/ros/v/iron/mrpt_path_planning)](https://index.ros.org/search/?term=mrpt_path_planning) |\n| ROS 2 Jazzy @ u24.04 | [![Build Status](https://build.ros2.org/job/Jdev__mrpt_path_planning__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Jdev__mrpt_path_planning__ubuntu_noble_amd64/) | [![Build Status](https://build.ros2.org/job/Jbin_uN64__mrpt_path_planning__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mrpt_path_planning__ubuntu_noble_amd64__binary/) | [![Version](https://img.shields.io/ros/v/jazzy/mrpt_path_planning)](https://index.ros.org/search/?term=mrpt_path_planning) | \n| ROS 2 Rolling (u24.04) | [![Build Status](https://build.ros2.org/job/Rdev__mrpt_path_planning__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mrpt_path_planning__ubuntu_noble_amd64/) | [![Build Status](https://build.ros2.org/job/Rbin_uN64__mrpt_path_planning__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mrpt_path_planning__ubuntu_noble_amd64__binary/) | [![Version](https://img.shields.io/ros/v/rolling/mrpt_path_planning)](https://index.ros.org/search/?term=mrpt_path_planning) |\n\n\n## Build requisites\n\n- [MRPT](https://github.com/MRPT/mrpt/) (\u003e=2.12.0)\n- [mvsim](https://github.com/MRPT/mvsim/) (optional to run the live control simulator).\n\nIn Ubuntu 22.04 or newer, installed it with:\n\n```\nsudo apt install libmrpt-dev\n```\n\nFor older versions of Ubuntu: \n\n```\n# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):\nsudo add-apt-repository ppa:joseluisblancoc/mrpt\nsudo apt update\nsudo apt install libmrpt-dev\n```\n\n## Use in your code\n\nFrom your CMake script:\n\n```\nfind_package(mrpt_path_planning REQUIRED)\ntarget_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)\n```\n\n## Demo runs\n\n```\n# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml\n```\n\nCommand-line app to test the A* planner:\n\n```\nbuild-Release/bin/path-planner-cli -g \"[4 2.5 45]\" -s \"[0.5 0 0]\" \\\n    --planner \"mpp::TPS_Astar\"  \\\n    -c share/ptgs_holonomic_robot.ini  \\\n    --obstacles share/obstacles_01.txt  \\\n    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \\\n    --costmap-obstacles share/costmap-obstacles.yaml\n```\n\n```\nbuild-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml\n# Edit tps-rrtstar.yaml as desired\nbuild-Release/bin/path-planner-cli \\\n  -g \"[4 2.5 45]\" -s \"[0.5 0 0]\" \\\n  -p share/ptgs_holonomic_robot.ini \\\n  --obstacles share/obstacles_01.txt \\\n  --planner-parameters tps-rrtstar.yaml \\\n  --max-iterations 1000 \\\n  --costmap-obstacles share/costmap-obstacles.yaml \\\n  --random-seed 3\n```\n\nGUI with live navigation simulator:\n\n```\n# Holonomic robot:\nbuild-Release/bin/selfdriving-simulator-gui \\\n  --waypoints share/mvsim-demo-waypoints01.yaml \\\n  -s share/mvsim-demo.xml \\\n  -p share/ptgs_holonomic_robot.ini \\\n  --nav-engine-parameters share/nav-engine-params.yaml \\\n  --planner-parameters share/mvsim-demo-astar-planner-params.yaml \\\n  --prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \\\n  --global-costmap-parameters share/costmap-obstacles.yaml \\\n  --local-costmap-parameters share/costmap-obstacles.yaml \\\n  -v DEBUG\n\n# Ackermann vehicle:\nbuild-Release/bin/selfdriving-simulator-gui \\\n  --waypoints share/mvsim-demo-waypoints01.yaml \\\n  -s share/mvsim-demo.xml \\\n  -p share/ptgs_ackermann_vehicle.ini \\\n  --nav-engine-parameters share/nav-engine-params.yaml \\\n  --planner-parameters share/mvsim-demo-astar-planner-params.yaml \\\n  --prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \\\n  --global-costmap-parameters share/costmap-obstacles.yaml \\\n  --local-costmap-parameters share/costmap-obstacles.yaml \\\n  -v DEBUG\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmrpt%2Fmrpt_path_planning","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmrpt%2Fmrpt_path_planning","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmrpt%2Fmrpt_path_planning/lists"}