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lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

Repo symbol

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING

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

lightning_rrt repository

lightning_rrt

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/david-dorf/lightning_rrt.git
VCS Type git
VCS Version jazzy
Last Updated 2025-12-29
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
lightning_rrt 0.0.1

README

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.

CONTRIBUTING