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multidim_rrt_cpp package from multidim_rrt_cpp repomultidim_rrt_cpp |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Lightweight ROS 2 C++ RRT path planner package for 2D and 3D. |
| Checkout URI | https://github.com/david-dorf/multidim_rrt_cpp.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-03-12 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | ros ros2 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- sokul
Authors
No additional authors.
Multi-dimensional RRT Planner (C++)
Author: David Dorf
Description
3D and 2D implementation of Rapid Exploring Random Tree algorithms for ROS 2 in C++. This is a lightweight, performant version of my Python implementation: https://github.com/daviddorf2023/multidim_rrt_planner. Given a start and goal pose, the algorithm attempts to publish a path using the RRT algorithm when the run_rrt service is called. The main ROS 2 nodes are rrt2D and rrt3D, which can take user inputs and publish the nodes of the RRT and the path to the goal. The nodes can be launched with RViz by using rrt2Dlaunch.xml and rrt3Dlaunch.xml.
Installation
Clone the repository into your ROS 2 workspace and build with colcon build, then source your install directory, and launch one of the launch files. More information can be found here: https://docs.ros.org/en/iron/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html.
CHANGELOG
No CHANGELOG found.
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
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/rrt3Dlaunch.xml
-
- start_x [default: 0.0]
- start_y [default: 0.0]
- start_z [default: 0.0]
- goal_x [default: 1.0]
- goal_y [default: -1.0]
- goal_z [default: 0.0]
- map_bounds_x [default: 100]
- map_bounds_y [default: 100]
- map_bounds_z [default: 100]
- step_size [default: 0.05]
- node_limit [default: 5000]
- goal_tolerance [default: 0.35]
- example_publishers [default: False]
- obstacle_sub_mode [default: $(eval '\'$(var example_publishers)\' == \'True\'')]
- launch/rrt2Dlaunch.xml
-
- start_x [default: 0.0]
- start_y [default: 0.0]
- goal_x [default: 1.0]
- goal_y [default: -1.0]
- map_bounds_x [default: 100]
- map_bounds_y [default: 100]
- example_publishers [default: False]
- map_sub_mode [default: $(eval '\'$(var example_publishers)\' == \'True\'')]
- obstacle_sub_mode [default: $(eval '\'$(var example_publishers)\' == \'True\'')]
- step_size [default: 0.05]
- node_limit [default: 5000]
- goal_tolerance [default: 0.2]
- wall_confidence [default: 50]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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