Repository Summary
Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
VCS Type | git |
VCS Version | develop |
Last Updated | 2024-10-07 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
mrpt_path_planning | 0.2.0 |
README
mrpt_path_planning
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.
Status on ROS build farm
Distro | Build dev | Build releases | Stable version |
---|---|---|---|
ROS 1 Noetic (u20.04) | |||
ROS 2 Humble (u22.04) | |||
ROS 2 Iron (u22.04) | |||
ROS 2 Jazzy @ u24.04 | |||
ROS 2 Rolling (u24.04) |
Build requisites
In Ubuntu 22.04 or newer, installed it with:
sudo apt install libmrpt-dev
For older versions of Ubuntu:
# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev
Use in your code
From your CMake script:
find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)
Demo runs
# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
Command-line app to test the A* planner:
build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
--planner "mpp::TPS_Astar" \
-c share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--costmap-obstacles share/costmap-obstacles.yaml
build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
-g "[4 2.5 45]" -s "[0.5 0 0]" \
-p share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters tps-rrtstar.yaml \
--max-iterations 1000 \
--costmap-obstacles share/costmap-obstacles.yaml \
--random-seed 3
GUI with live navigation simulator:
# Holonomic robot:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_holonomic_robot.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG
# Ackermann vehicle:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_ackermann_vehicle.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
VCS Type | git |
VCS Version | develop |
Last Updated | 2024-10-07 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
mrpt_path_planning | 0.2.0 |
README
mrpt_path_planning
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.
Status on ROS build farm
Distro | Build dev | Build releases | Stable version |
---|---|---|---|
ROS 1 Noetic (u20.04) | |||
ROS 2 Humble (u22.04) | |||
ROS 2 Iron (u22.04) | |||
ROS 2 Jazzy @ u24.04 | |||
ROS 2 Rolling (u24.04) |
Build requisites
In Ubuntu 22.04 or newer, installed it with:
sudo apt install libmrpt-dev
For older versions of Ubuntu:
# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev
Use in your code
From your CMake script:
find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)
Demo runs
# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
Command-line app to test the A* planner:
build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
--planner "mpp::TPS_Astar" \
-c share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--costmap-obstacles share/costmap-obstacles.yaml
build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
-g "[4 2.5 45]" -s "[0.5 0 0]" \
-p share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters tps-rrtstar.yaml \
--max-iterations 1000 \
--costmap-obstacles share/costmap-obstacles.yaml \
--random-seed 3
GUI with live navigation simulator:
# Holonomic robot:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_holonomic_robot.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG
# Ackermann vehicle:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_ackermann_vehicle.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
VCS Type | git |
VCS Version | develop |
Last Updated | 2024-10-07 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
mrpt_path_planning | 0.2.0 |
README
mrpt_path_planning
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.
Status on ROS build farm
Distro | Build dev | Build releases | Stable version |
---|---|---|---|
ROS 1 Noetic (u20.04) | |||
ROS 2 Humble (u22.04) | |||
ROS 2 Iron (u22.04) | |||
ROS 2 Jazzy @ u24.04 | |||
ROS 2 Rolling (u24.04) |
Build requisites
In Ubuntu 22.04 or newer, installed it with:
sudo apt install libmrpt-dev
For older versions of Ubuntu:
# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev
Use in your code
From your CMake script:
find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)
Demo runs
# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
Command-line app to test the A* planner:
build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
--planner "mpp::TPS_Astar" \
-c share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--costmap-obstacles share/costmap-obstacles.yaml
build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
-g "[4 2.5 45]" -s "[0.5 0 0]" \
-p share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters tps-rrtstar.yaml \
--max-iterations 1000 \
--costmap-obstacles share/costmap-obstacles.yaml \
--random-seed 3
GUI with live navigation simulator:
# Holonomic robot:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_holonomic_robot.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG
# Ackermann vehicle:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_ackermann_vehicle.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
VCS Type | git |
VCS Version | develop |
Last Updated | 2024-10-07 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
mrpt_path_planning | 0.2.0 |
README
mrpt_path_planning
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.
Status on ROS build farm
Distro | Build dev | Build releases | Stable version |
---|---|---|---|
ROS 1 Noetic (u20.04) | |||
ROS 2 Humble (u22.04) | |||
ROS 2 Iron (u22.04) | |||
ROS 2 Jazzy @ u24.04 | |||
ROS 2 Rolling (u24.04) |
Build requisites
In Ubuntu 22.04 or newer, installed it with:
sudo apt install libmrpt-dev
For older versions of Ubuntu:
# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev
Use in your code
From your CMake script:
find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)
Demo runs
# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
Command-line app to test the A* planner:
build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
--planner "mpp::TPS_Astar" \
-c share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--costmap-obstacles share/costmap-obstacles.yaml
build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
-g "[4 2.5 45]" -s "[0.5 0 0]" \
-p share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters tps-rrtstar.yaml \
--max-iterations 1000 \
--costmap-obstacles share/costmap-obstacles.yaml \
--random-seed 3
GUI with live navigation simulator:
# Holonomic robot:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_holonomic_robot.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG
# Ackermann vehicle:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_ackermann_vehicle.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
VCS Type | git |
VCS Version | develop |
Last Updated | 2024-10-07 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
mrpt_path_planning | 0.2.0 |
README
mrpt_path_planning
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of “motion primitives” for vehicles with arbitrary shape and realistic kinematics and dynamics.
Status on ROS build farm
Distro | Build dev | Build releases | Stable version |
---|---|---|---|
ROS 1 Noetic (u20.04) | |||
ROS 2 Humble (u22.04) | |||
ROS 2 Iron (u22.04) | |||
ROS 2 Jazzy @ u24.04 | |||
ROS 2 Rolling (u24.04) |
Build requisites
In Ubuntu 22.04 or newer, installed it with:
sudo apt install libmrpt-dev
For older versions of Ubuntu:
# MRPT from this PPA (or build from sources if preferred, or from ROS package `mrpt2`):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev
Use in your code
From your CMake script:
find_package(mrpt_path_planning REQUIRED)
target_link_libraries(YOUR_TARGET mpp::mrpt_path_planning)
Demo runs
# bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
Command-line app to test the A* planner:
build-Release/bin/path-planner-cli -g "[4 2.5 45]" -s "[0.5 0 0]" \
--planner "mpp::TPS_Astar" \
-c share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--costmap-obstacles share/costmap-obstacles.yaml
build-Release/bin/path-planner-cli --write-planner-parameters tps-rrtstar.yaml
# Edit tps-rrtstar.yaml as desired
build-Release/bin/path-planner-cli \
-g "[4 2.5 45]" -s "[0.5 0 0]" \
-p share/ptgs_holonomic_robot.ini \
--obstacles share/obstacles_01.txt \
--planner-parameters tps-rrtstar.yaml \
--max-iterations 1000 \
--costmap-obstacles share/costmap-obstacles.yaml \
--random-seed 3
GUI with live navigation simulator:
# Holonomic robot:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_holonomic_robot.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG
# Ackermann vehicle:
build-Release/bin/selfdriving-simulator-gui \
--waypoints share/mvsim-demo-waypoints01.yaml \
-s share/mvsim-demo.xml \
-p share/ptgs_ackermann_vehicle.ini \
--nav-engine-parameters share/nav-engine-params.yaml \
--planner-parameters share/mvsim-demo-astar-planner-params.yaml \
--prefer-waypoints-parameters share/costmap-prefer-waypoints.yaml \
--global-costmap-parameters share/costmap-obstacles.yaml \
--local-costmap-parameters share/costmap-obstacles.yaml \
-v DEBUG