ROS Index
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rrt_planner package from multidim_rrt_planner reporrt_planner |
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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/daviddorf2023/multidim_rrt_planner.git |
| VCS Type | git |
| VCS Version | iron |
| Last Updated | 2023-12-04 |
| Dev Status | MAINTAINED |
| 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
Additional Links
Maintainers
- david
Authors
Multi-dimensional RRT Planner
https://github.com/daviddorf2023/ros2rrt/assets/113081373/6f8e5829-7414-44c8-915c-48ec843377d8
Authors and Contributors
Author: David Dorf
Description
3D and 2D implementation of Rapid Exploring Random Tree algorithms for ROS 2. 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 ROS 2 nodes are currently in development. The nodes can subscribe to topics for map data, marker obstacles, and can be launched with rrt2Dlaunch.xml and rrt3Dlaunch.xml, respectively.
Installation
Dependencies
- ROS 2 Iron
- Python 3.5+
- numpy 1.13.3+
Building
Clone the repository into your ROS 2 workspace and build with colcon build.
Usage
ROS 2 Nodes
rrt2D
rrt2D is a ROS 2 node that implements the RRT algorithm in 2D. It can be launched with the rrt2Dlaunch.xml file. The node subscribes to the /occupancy_grid topic for map data and the /obstacle_markers_2D topic for marker obstacles. The node publishes the nodes of the RRT to the /rrt_markers topic and the path to the goal to the /rrt_path topic.
rrt3D
rrt3D is a ROS 2 node that implements the RRT algorithm in 3D. It can be launched with the rrt3Dlaunch.xml file. The node subscribes to the /occupancy_grid topic for map data and the /obstacle_markers_3D topic for marker obstacles. The node publishes the nodes of the RRT to the /rrt_markers topic and the path to the goal to the /rrt_path topic.
Wiki Tutorials
Dependant Packages
Launch files
- launch/rrt3Dlaunch.xml
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- 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]
- obstacle_sub_mode [default: True]
- step_size [default: 0.05]
- node_limit [default: 5000]
- goal_tolerance [default: 0.5]
- wall_confidence [default: 50]
- launch/rrt2Dlaunch.xml
-
- start_x [default: 0.0]
- start_y [default: 0.0]
- goal_x [default: 1.0]
- goal_y [default: -1.0]
- map_sub_mode [default: True]
- obstacle_sub_mode [default: True]
- step_size [default: 0.05]
- node_limit [default: 5000]
- goal_tolerance [default: 0.2]
- wall_confidence [default: 50]