Multi-dimensional RRT Planner

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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro jazzy showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro kilted showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro rolling showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro ardent showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro bouncy showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro crystal showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro eloquent showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro dashing showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro galactic showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro foxy showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro lunar showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro jade showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro indigo showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro hydro showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro kinetic showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro melodic showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange

No version for distro noetic showing iron. Known supported distros are highlighted in the buttons above.

rrt_planner package from multidim_rrt_planner repo

rrt_planner

ROS Distro
iron

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
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RRT exploration in 2D and 3D

Additional Links

No additional links.

Maintainers

david

Authors

No additional 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.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros2launch
	rclpy
	std_msgs
	ament_copyright
	ament_flake8
	ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

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]
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]
  - obstacle_sub_mode [default: True]
  - step_size [default: 0.05]
  - node_limit [default: 5000]
  - goal_tolerance [default: 0.5]
  - wall_confidence [default: 50]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rrt_planner` at Robotics Stack Exchange