lightning_rrt

ROS 2 Jazzy package for obtaining 2D navigation paths using the Rapidly-exploring Random Tree (RRT) algorithm. Custom messages for this package can be found in lightning_rrt_interfaces

https://github.com/user-attachments/assets/d12ce5e2-bf8f-4276-b6c6-0f8e2d99c03d

Installation

1. Install ROS 2 Jazzy
2. Install this package and its interfaces:

sudo apt install ros-jazzy-lightning-rrt ros-jazzy-lightning-rrt-interfaces

Usage

See src/example_map.cpp for publishing an RRT request. Run the example with:

source /opt/ros/jazzy/setup.bash
ros2 launch lightning_rrt launch.xml

Nodes

Run with source /opt/ros/jazzy/setup.bash | ros2 run lightning_rrt <node_name>

• example_map: Publishes an example RRT request with a map, start, and goal
• lightning_rrt: Subscribes to rrt_request, publishes path if RRT succeeds
• visualize_rrt: Subscribes to rrt_request, publishes map and start/goal markers for visualization

Future Work

Separating the RRT planner into its own library for swapping/testing.

Changelog for package lightning_rrt

0.0.1 (2025-12-29)

• Update README with future work section
• Move get_rrt_path into protected access for testing
• Refactor rrt into a separate function for testing
• Add launch and rviz config
• Bugfixes, naming conventions, and QoL cleanup
• Update README with video link
• Update README Expanded the description of the package and added future roadmap ideas.
• Fix link reference in README for example_map.cpp
• Update README with roadmap Add roadmap section for future enhancements.
• Merge branch 'main' of github.com:david-dorf/lightning_rrt
• Change example_client to example_map
• Create README.md with package details Added installation and usage instructions for the lightning_rrt package.
• Apply fix to bound and collision checking to account for map origin. Add L shaped obstacle to example.
• Fix collision checking. RRT works as expected now. Needs additional checks on start/goal to prevent initial collision/out-of-bounds
• Separate start and goal markers out of array
• Add visualizer. Collision checking is bugged.
• Working RRT with collision and straight line to goal checks
• Add path publisher, empty vector to store nodes
• Add random point generation and bounds checking
• Significant refactor using custom message
• Add start and goal marker publishing to example
• Add example map and separate publishers for start and goal
• Add marker visualization
• Add goal subscription
• Add path publisher and timer
• Add working map subscription
• Initial commit with basic sub and service
• Contributors: David Dorf