srl_dstar_lite

Description of the Package

srl_dstar_lite is a ROS move_base package that implements D* Lite. The latter is a common motion planning algorithm that deals with unexpected obstacles and quickly react to dynamic world's changes.

The package is a global_planner plug-in for move_base. It adhers to the specifics of nav_core::BaseGlobalPlanner, please check for further details on move_base refer to http://wiki.ros.org/move_base.

Requirements

• ROS (including visualization rools -> rviz), tested on Indigo, Hydro and Kinetic
• ros-hydro-navigation or ros-indigo-navigation or ros-kinetic-navigation
• Eigen3
• Boost >= 1.46
• C++11 compiler

Installation

Clone the package into you catkin workspace

• cd [workspace]/src
• git clone https://github.com/laujinseoi/srl_dstar_lite.git
• cd ../
• catkin_make or catkin build

Usage

• Change your ros param name "base_global_planner" to "srl_dstar_lite/SrlDstarLiteROS", then launch your navigation stack, and it will work!

Developers

Any contribution to the software is welcome. Contact the current developers for any info:

• Luigi Palmieri (https://github.com/palmieri, palmieri(at)informatik.uni-freiburg.de)

TODOs:

• Rewrite the code to be conform to the ROS Cpp style guide, see http://wiki.ros.org/CppStyleGuide
• Use dynamic reconfiguration of the parameters, see http://wiki.ros.org/dynamic_reconfigure
• Improve documentation