holonomic bi directional RRT* implemenation in C++, wrapped in a catkin workspace.
compile with catkin_make run with roslaunch local_planner bi_directional_rrt_star.launch
current bounds of planner/costmap: 200x200m (-100 to 100 in x and y)
publish a geometry_msgs::Point to /local_planner/goal (within bounds of costmap), and planner will generate a path
rosparams:
local_costmap_res - resolution of costmap/c-space
local_costmap_height - height of costmap/c-space in meters
local_costmap_width - width of costmap/c-space in meters
max_branch_length - max length of a branch in an RRT* tree in meters
search_radius - radius in meters algorithm will search for cheapest cost path/node to new random point