traj_opt

A ROS package for trajectory optimization in $\mathbb{R}^3$. Developing...

Quick Start

1. Clone this repo, and build

catkin build

2. Launch the nodes for visualization

roslaunch traj_opt try_bezier.launch

3. use 2D Nav tool to send a goal point, it will randomly generates safety corridors and samples times to these corridors

TODO

• Polynomial + MiniSnap
• Bezier Curve
• Bspline
• MINVO
• MINCO

Thanks

• Btraj
• GCOPTER
• EDG-TEAM
• MADER