mrpt_path_planning package from mrpt_path_planning repo

mrpt_path_planning

Package Summary

Tags No category tags.
Version 0.1.0
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 2023-07-02
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

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

  • Jose-Luis Blanco-Claraco

CI Linux Documentation Status

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) Build Status Build Status Version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Iron (u22.04) Build Status Build Status Version
ROS 2 Rolling (u22.04) Build Status Build Status Version

Build requisites

  • MRPT (>=2.3.2)
  • 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 >=2.3.2, for now from this PPA (or build from sources if preferred):
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

0.1.0 (2023-06-14)

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_path_planning at Robotics Stack Exchange

mrpt_path_planning package from mrpt_path_planning repo

mrpt_path_planning

Package Summary

Tags No category tags.
Version 0.1.0
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 2023-07-02
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

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

  • Jose-Luis Blanco-Claraco

CI Linux Documentation Status

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) Build Status Build Status Version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Iron (u22.04) Build Status Build Status Version
ROS 2 Rolling (u22.04) Build Status Build Status Version

Build requisites

  • MRPT (>=2.3.2)
  • 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 >=2.3.2, for now from this PPA (or build from sources if preferred):
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

0.1.0 (2023-06-14)

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_path_planning at Robotics Stack Exchange

mrpt_path_planning package from mrpt_path_planning repo

mrpt_path_planning

Package Summary

Tags No category tags.
Version 0.1.0
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 2023-07-02
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

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

  • Jose-Luis Blanco-Claraco

CI Linux Documentation Status

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) Build Status Build Status Version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Iron (u22.04) Build Status Build Status Version
ROS 2 Rolling (u22.04) Build Status Build Status Version

Build requisites

  • MRPT (>=2.3.2)
  • 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 >=2.3.2, for now from this PPA (or build from sources if preferred):
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

0.1.0 (2023-06-14)

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_path_planning at Robotics Stack Exchange

mrpt_path_planning package from mrpt_path_planning repo

mrpt_path_planning

Package Summary

Tags No category tags.
Version 0.1.0
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 2023-07-02
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

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

  • Jose-Luis Blanco-Claraco

CI Linux Documentation Status

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) Build Status Build Status Version
ROS 2 Humble (u22.04) Build Status Build Status Version
ROS 2 Iron (u22.04) Build Status Build Status Version
ROS 2 Rolling (u22.04) Build Status Build Status Version

Build requisites

  • MRPT (>=2.3.2)
  • 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 >=2.3.2, for now from this PPA (or build from sources if preferred):
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

0.1.0 (2023-06-14)

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
cmake
doxygen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_path_planning at Robotics Stack Exchange

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