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.