trajectory_planner

Master thesis local navagation package. This package implements a multi-hypothesis local planning algorithm.

Getting Started

Instructions install the the software.

Prerequisites

You need to install the ROS Kinect and lartkv5 repository.

Installing

Download the package and compile it in a catkin_make workspace.

Running

Subscribed topics

• /reduced_pcl(sensor_msgs::PointCloud2) - Physical obstacles' point cloud. Given by merging sensor data.
• /line_pcl(sensor_msgs::PointCloud2) - Center line's point cloud (optional planning).

Published topics

• /cmd_vel(geometry_msgs::Twist) - Linear and angular velocity given by planning algorithm.

Running local planner

ROS launch command.

roslaunch trajectory_planner trajectory_planner_simulated_simulator.launch 

Built With

• lartkv5 - Planning framework used.

License

This project is licensed under the GPL v3.0 License - see the LICENSE.md file for details.