Framework implements various lazy search algorithms. The planners have been implemented in OMPL.
Dependencies:
- C++11 or higher
- cmake
- OMPL
- Boost Graph Library
The CMakeLists.txt file supports catkin tools. Once you have created and initialized your workspace,
you should be able to build the package by running catkin build gls
.
The planner implemented under GLS return the shortest path on the roadmap graph it is planning on.
Example:
An example graph and an environment have been provided to run with examples/test2d_image.cpp
.
rosrun gls test2d_image -s <source_x> <source_y> -t <target_x> <target_y> -o <obstacle_file.png> -g <graph.graphml>
- The source and target locations are assumed to be in [0, 1]
- The obstacle file is for visualization purposes, and should correspond with the GraphML file.
- A short-cut to the default graph and obstacle files in the
examples
folder can be run with the following launch file:
roslaunch gls test.launch
Parameters: graph
, obstacles
, start_x
, start_y
, target_x
, target_y