ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
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Repository Summary
| Description | ROS Navigation package, ROS RRT, RRT*, RRT-connect, rrt剪枝 |
| Checkout URI | https://github.com/mkjia/ros-navigation-rrt.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-08-20 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| nav_sim | 0.0.0 |
| amcl | 1.16.2 |
| base_local_planner | 1.16.2 |
| carrot_planner | 1.16.2 |
| clear_costmap_recovery | 1.16.2 |
| costmap_2d | 1.16.2 |
| dwa_local_planner | 1.16.2 |
| fake_localization | 1.16.2 |
| global_planner | 1.16.2 |
| map_server | 1.16.2 |
| move_base | 1.16.2 |
| move_slow_and_clear | 1.16.2 |
| nav_core | 1.16.2 |
| navfn | 1.16.2 |
| navigation | 1.16.2 |
| rotate_recovery | 1.16.2 |
| voxel_grid | 1.16.2 |
| map_msgs | 1.13.0 |
| move_base_msgs | 1.13.0 |
| laser_scan_publisher_tutorial | 0.2.3 |
| navigation_stage | 0.2.3 |
| navigation_tutorials | 0.2.3 |
| odometry_publisher_tutorial | 0.2.3 |
| point_cloud_publisher_tutorial | 0.2.3 |
| robot_setup_tf_tutorial | 0.2.3 |
| roomba_stage | 0.2.3 |
| simple_navigation_goals_tutorial | 0.2.3 |
README
ROS-planning navigation RRT rrt* 双向RRT 剪枝
navigation package
https://github.com/ros-planning/navigation
- ros原版的navigation包中，global_planner仅给出了A*，dijkstra等功能
- 本项目在ros-planning模块的navigation包的基础上，对接原装接口，仿照
global_planner下的astar.cpp/dijkstra.cpp添加了各类RRT路径规划功能rrt.cpp。 - 使用不同rrt算法可通过
nav_sim/cfg/global_planner_params.yaml更改参数设置。如需在其他项目中使用，请自行添加参数文件。 - 参数说明：
- use_connect 双向rrt
- use_rrt_star rrt*
- use_cut_bridge 进行rrt剪枝，此参数可单独配置
- use_goal_guild 进行目标导向，使用该参数将使得树以一定概率直接向终点延伸
- 使用时需将该package放在workspace下，运行程序时应优先调用该目录下程序，而非apt install的navigation库（默认在/opt下）
nav_sim
https://github.com/ZJUYH/nav_sim
- navigation模块实现的demo
- 与navigation放在同一workspace/src下
{your_workspace}$catkin_make
{your_workspace}$source devel/setup.bash
{your_workspace}$roslaunch nav_sim myrobot_world.launch
{your_workspace}$roslaunch nav_sim move_base.launch
在rviz中使用2D Nav Goal设置目标点，自动进行路径规划
CONTRIBUTING
No CONTRIBUTING.md found.
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