https://github.com/naivehobo/rrtplanner

ROS package for a 2D path planner using the Rapidly Exploring Random Trees (RRT) algorithm
https://github.com/naivehobo/rrtplanner

path-planning pathfinding planning robotics ros rrt rrt-star

Last synced: 2 months ago
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ROS package for a 2D path planner using the Rapidly Exploring Random Trees (RRT) algorithm

• Host: GitHub
• URL: https://github.com/naivehobo/rrtplanner
• Owner: naiveHobo
• Created: 2019-11-10T23:46:52.000Z (about 5 years ago)
• Default Branch: master
• Last Pushed: 2022-04-10T22:29:49.000Z (almost 3 years ago)
• Last Synced: 2024-10-30T00:39:35.776Z (3 months ago)
• Topics: path-planning, pathfinding, planning, robotics, ros, rrt, rrt-star
• Language: C++
• Size: 1.06 MB
• Stars: 28
• Watchers: 3
• Forks: 11
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Rapidly Exploring Random Tree (RRT) Planner

ROS package for a 2D path planner using the Rapidly Exploring Random Trees (RRT) algorithm. This repository contains two packages.

```

roslaunch planner rrt_planner.launch

```

## Installation

Clone this repository in a catkin workspace and run the following command to build the packages:

```

catkin build

```

## Planner

The planner package provides an implementation of the RRT algorithm.

![Path](images/path.gif)

To run the rrt planner node:

```

roslaunch planner rrt_planner_node.launch

```

The following parameters can be set in the launch file:

 - `map_topic (default: "/map")`: Topic where the map is published (type: *nav_msgs/OccupancyGrid*)

 - `goal_topic (default: "/goal")`: Topic where goal is published (type: *geometry_msgs/Pose2D*)

 - `pose_topic (default: "/pose")`: Topic where starting position is published (type: *geometry_msgs/Pose2D*)

 - `max_vertices (default: 1500)`: Maximum vertices to be added to graph after which goal search should be stopped

 - `step_size (default: 20)`: Size of steps. Bigger steps means smaller graphs but more time and vice versa

## Mapping

The mapping package provides a minimalistic GUI to draw obstacles in a 2D environment and choose starting position and goal.

![Map](images/map.png)

To run the mapping node:

```

roslaunch mapping mapping_node.launch

```

The following parameters can be set in the launch file:

 - `map_topic (default: "/map")`: Topic where the map should be published (type: *nav_msgs/OccupancyGrid*)

 - `goal_topic (default: "/goal")`: Topic where goal should be published (type: *geometry_msgs/Pose2D*)

 - `pose_topic (default: "/pose")`: Topic where starting position should be published (type: *geometry_msgs/Pose2D*)

 - `height (default: 500)`: Height of map

 - `width (default: 500)`: Width of map

 - `resolution (default: 0.05)`: Resolution of map

 - `save_map (default: "none")`: If this parameter is set, the created map will be stored to this path 

 - `load_map (default: "none")`: If this parameter is set, map will be loaded from an image file at this path

When running the mapping node:

 - Press 'q' to quit

 - Press 's' to save and move on

 - Press numbers to the keyboard to change width of paint brush

 - Right-click to toggle between eraser and paint brush