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https://github.com/ai-winter/ros_motion_planning_visualizer
A Rviz Plugin used in path visualization and curve generation, which is helpful for qualitative experiments on path planning and curve optimization.
https://github.com/ai-winter/ros_motion_planning_visualizer
Last synced: about 2 months ago
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A Rviz Plugin used in path visualization and curve generation, which is helpful for qualitative experiments on path planning and curve optimization.
- Host: GitHub
- URL: https://github.com/ai-winter/ros_motion_planning_visualizer
- Owner: ai-winter
- Created: 2023-09-05T02:27:20.000Z (about 1 year ago)
- Default Branch: master
- Last Pushed: 2024-04-12T02:24:31.000Z (5 months ago)
- Last Synced: 2024-04-12T23:57:49.300Z (5 months ago)
- Language: C++
- Size: 5.75 MB
- Stars: 10
- Watchers: 4
- Forks: 1
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
## Table of Contents
- [Introduction](#0)
- [File Tree](#1)
- [Start](#2)
- [UI Design](#3)
- [Examples](#4)
- [Path Planning](#path-planning)
- [Curve Generation](#curve-generation)
- [More](#5)
## 0. Introduction
This repository provides ROS Motion Planning Visualizer (RMPV), a ROS-based visualization Rviz plugins for path planning and curve generation algorithms.
In scientific research, this repository allows researchers to observe, study, understand and analyze the working mechanisms of different algorithms, making it easier to identify strengths and weaknesses. This helps in the development of more efficient and optimized algorithms for various applications, such as robotics, transportation, and computer graphics.
This plugin is also one of tool chains of [ROS Motion Planning](https://github.com/ai-winter/ros_motion_planning) project.
### This repository is under development!! It is not stable!! Please wait for our official release!!
## 1. Start
We provide a script to quickly start the world.
```sh
cd ./scripts
./main.sh
```
## 2. UI Design
`include/rmpv/ui_rmpv.h` is automatically generated by `uic`. To modify it, please modify `ui/rmpv.ui` with Qt Designer and run the following commands in your terminal.
```sh
cd ./src/rviz_plugins/rmpv
uic -o ./include/rmpv/ui_rmpv.h ./ui/rmpv.ui
```
## 3. Documentation
Generating doxygen documentation helps you understand the code better.
First install doxygen and graphviz.
```sh
sudo apt-get install doxygen
sudo apt-get install graphviz
```
Then enter the root directory of project and run the following command in your terminal to generate doxygen documentation.
```sh
doxygen
```
Then you can find the documentation in `./docs/html/index.html`. You can configure the doxygen settings in `./Doxyfile`.
## 4. Examples
### 4.1 Path Planning
### 4.2 Curve Generation
Under development.
## 5. More
Our motion planning R&D toolkit:
* [ROS Motion Planning](https://github.com/ai-winter/ros_motion_planning)
* [ROS Pedestrians Simulation](https://github.com/ai-winter/ros_pedestrians_simulation)
* [ROS Motion Planning Visualizer](https://github.com/ai-winter/ros_motion_planning_visualizer)
* [Python Motion Planning](https://github.com/ai-winter/python_motion_planning)
* [Matlab Motion Planning](https://github.com/ai-winter/matlab_motion_planning)
Your stars, forks and PRs are welcome! Wishing you all the best in your research!