{"id":15657575,"url":"https://github.com/naivehobo/rrtplanner","last_synced_at":"2025-09-12T10:38:00.323Z","repository":{"id":67884917,"uuid":"220866963","full_name":"naiveHobo/RRTPlanner","owner":"naiveHobo","description":"ROS package for a 2D path planner using the Rapidly Exploring Random Trees (RRT) algorithm","archived":false,"fork":false,"pushed_at":"2022-04-10T22:29:49.000Z","size":1112,"stargazers_count":31,"open_issues_count":0,"forks_count":11,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-05-05T04:13:51.775Z","etag":null,"topics":["path-planning","pathfinding","planning","robotics","ros","rrt","rrt-star"],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/naiveHobo.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2019-11-10T23:46:52.000Z","updated_at":"2025-04-09T07:16:36.000Z","dependencies_parsed_at":null,"dependency_job_id":"77b59e46-1711-4d48-b5f3-69efaaec61cd","html_url":"https://github.com/naiveHobo/RRTPlanner","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/naiveHobo%2FRRTPlanner","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/naiveHobo%2FRRTPlanner/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/naiveHobo%2FRRTPlanner/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/naiveHobo%2FRRTPlanner/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/naiveHobo","download_url":"https://codeload.github.com/naiveHobo/RRTPlanner/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":252436586,"owners_count":21747472,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["path-planning","pathfinding","planning","robotics","ros","rrt","rrt-star"],"created_at":"2024-10-03T13:08:27.108Z","updated_at":"2025-05-05T04:14:00.468Z","avatar_url":"https://github.com/naiveHobo.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Rapidly Exploring Random Tree (RRT) Planner\n\nROS package for a 2D path planner using the Rapidly Exploring Random Trees (RRT) algorithm. This repository contains two packages.\n\n```\nroslaunch planner rrt_planner.launch\n```\n\n## Installation\n\nClone this repository in a catkin workspace and run the following command to build the packages:\n\n```\ncatkin build\n```\n\n## Planner\n\nThe planner package provides an implementation of the RRT algorithm.\n\n![Path](images/path.gif)\n\n\nTo run the rrt planner node:\n```\nroslaunch planner rrt_planner_node.launch\n```\n\nThe following parameters can be set in the launch file:\n\n - `map_topic (default: \"/map\")`: Topic where the map is published (type: *nav_msgs/OccupancyGrid*)\n - `goal_topic (default: \"/goal\")`: Topic where goal is published (type: *geometry_msgs/Pose2D*)\n - `pose_topic (default: \"/pose\")`: Topic where starting position is published (type: *geometry_msgs/Pose2D*)\n - `max_vertices (default: 1500)`: Maximum vertices to be added to graph after which goal search should be stopped\n - `step_size (default: 20)`: Size of steps. Bigger steps means smaller graphs but more time and vice versa\n\n\n## Mapping\n\nThe mapping package provides a minimalistic GUI to draw obstacles in a 2D environment and choose starting position and goal.\n\n![Map](images/map.png)\n\n\nTo run the mapping node:\n```\nroslaunch mapping mapping_node.launch\n```\n\nThe following parameters can be set in the launch file:\n\n - `map_topic (default: \"/map\")`: Topic where the map should be published (type: *nav_msgs/OccupancyGrid*)\n - `goal_topic (default: \"/goal\")`: Topic where goal should be published (type: *geometry_msgs/Pose2D*)\n - `pose_topic (default: \"/pose\")`: Topic where starting position should be published (type: *geometry_msgs/Pose2D*)\n - `height (default: 500)`: Height of map\n - `width (default: 500)`: Width of map\n - `resolution (default: 0.05)`: Resolution of map\n - `save_map (default: \"none\")`: If this parameter is set, the created map will be stored to this path \n - `load_map (default: \"none\")`: If this parameter is set, map will be loaded from an image file at this path\n\nWhen running the mapping node:\n - Press 'q' to quit\n - Press 's' to save and move on\n - Press numbers to the keyboard to change width of paint brush\n - Right-click to toggle between eraser and paint brush\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnaivehobo%2Frrtplanner","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fnaivehobo%2Frrtplanner","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnaivehobo%2Frrtplanner/lists"}