mrpt_path_planning package from mrpt_path_planning repo

mrpt_path_planning

Package Summary

Tags	No category tags.
Version	0.2.1
License	BSD
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MRPT/mrpt_path_planning.git
VCS Type	git
VCS Version	develop
Last Updated	2024-10-14
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics.

Additional Links

Website

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

README.md

mrpt_path_planning

Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.

Status on ROS build farm

Distro	Build dev	Build releases	Stable version
ROS 1 Noetic (u20.04)
ROS 2 Humble (u22.04)
ROS 2 Iron (u22.04)
ROS 2 Jazzy @ u24.04
ROS 2 Rolling (u24.04)

Build requisites

MRPT (>=2.12.0)
mvsim (optional to run the live control simulator).

In Ubuntu 22.04 or newer, installed it with:

sudo apt install libmrpt-dev

For older versions of Ubuntu:

# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev

Use in your code

From your CMake script:

find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)

Demo runs

# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml

Command-line app to test the A* planner:

build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
    --planner "mpp::TPS_Astar"  \
    -c share/ptgs_holonomic_robot.ini  \
    --obstacles share/obstacles_01.txt  \
    --planner-parameters share/mvsim-demo-astar-planner-params.yaml  \
    --costmap-obstacles share/costmap-obstacles.yaml

build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
  -g "[4 2.5 45]" -s "[0.5 0 0]" \
  -p share/ptgs_holonomic_robot.ini \
  --obstacles share/obstacles_01.txt \
  --planner-parameters tps-rrtstar.yaml \
  --max-iterations 1000 \
  --costmap-obstacles share/costmap-obstacles.yaml \
  --random-seed 3

GUI with live navigation simulator:

# Holonomic robot:
build-Release/bin/selfdriving-simulator-gui \
  --waypoints share/mvsim-demo-waypoints01.yaml \
  -s share/mvsim-demo.xml \
  -p share/ptgs_holonomic_robot.ini \
  --nav-engine-parameters share/nav-engine-params.yaml \
  --planner-parameters share/mvsim-demo-astar-planner-params.yaml \
  --prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
  --global-costmap-parameters share/costmap-obstacles.yaml \
  --local-costmap-parameters share/costmap-obstacles.yaml \
  -v DEBUG

# Ackermann vehicle:
build-Release/bin/selfdriving-simulator-gui \
  --waypoints share/mvsim-demo-waypoints01.yaml \
  -s share/mvsim-demo.xml \
  -p share/ptgs_ackermann_vehicle.ini \
  --nav-engine-parameters share/nav-engine-params.yaml \
  --planner-parameters share/mvsim-demo-astar-planner-params.yaml \
  --prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
  --global-costmap-parameters share/costmap-obstacles.yaml \
  --local-costmap-parameters share/costmap-obstacles.yaml \
  -v DEBUG

CHANGELOG

Changelog for package mrpt_path_planning

0.2.1 (2024-10-14)

costmaps for rviz API
Contributors: Jose Luis Blanco-Claraco

0.2.0 (2024-10-05)

Add support for new PTGs with internalState in MRPT >=2.14.2
viz animations: draw vehicle frame for visual reference
interpolate(): fix accumulated error along trajectories
cli and viz: interpolate trajectory
cli: add flags to control obstacles bbox and clipping
ObstacleSource virtual API: implement clipping of obstacle sources
A* grid reimplemented as unordered_map for maximum efficiency
smoother obstacle cost function
Add more profiler and debug traces
remove -Wabi warnings
viz: start with camera pointing to the path origin
Contributors: Jose Luis Blanco-Claraco

0.1.5 (2024-09-16)

Update RTTI macros for upcoming MRPT 2.14.0
Contributors: Jose Luis Blanco-Claraco

0.1.4 (2024-08-29)

Depend on new mrpt_lib packages (deprecate mrpt2)
Contributors: Jose Luis Blanco-Claraco

0.1.3 (2024-05-24)

Update badges for ROS2 distros
bump minimum cmake version to 3.5
Contributors: Jose Luis Blanco-Claraco

0.1.2 (2024-04-25)

Fix usage of (new explicit) TPoint3D constructors
Update build instructions
Contributors: Jose Luis Blanco-Claraco

0.1.1 (2024-03-19)

Fix usage of obsolete mrpt methods
update ros badges
Contributors: Jose Luis Blanco-Claraco

0.1.0 (2023-06-14)

First release since initial development in May 2019.
Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	mvsim
	mrpt_libmaps
	mrpt_libgui
	mrpt_libnav
	mrpt_libtclap

System Dependencies

Name
cmake
doxygen

Dependant Packages

Name	Deps
mrpt_tps_astar_planner

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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