An implementation of Random-exploring Rapid Tree Algorithm on ROS.
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include/rrt_implement
matlab
msg
src
srv
CMakeLists.txt
package.xml
readme.md

readme.md

RRT Implementation

This is a repo for RRT implementation on ROS.

struct

msg
  • ellipsoid: define the ellipsoid with a center point, an angle and the length of the axises
  • point: 2D point
  • position: define the pose of a certain ellipsoid (robot) pose with a center point and an angle in [0, \pi)
  • trajectory: a position array + a model
  • pointsArray: a position array + the model's name, used to describe an area (arena, obstacles, robot)
  • world: arena, robot and a obstacle array with a size, all use ellipsoid model
srv
  • ellipsoid_points: convert position to pointsArray
  • collision_detect: use a simple but imprecise method to estimate

rviz config

Global Optional
  • Fixed Frame = "/root"
Marker
  • arena
  • obstacle0
  • obstacle1
  • robot
  • trajectory
  • graph

running note

after catkin_make && source devel/setup.bash

  • run the server
rosrun rrt_implement ellipsoid_point_gen_srv
rosrun rrt_implement collision_detection_srv
  • run the rrt planner
rosrun rrt_implement rrtPlanner
  • run the publisher
rosrun rrt_implement environment_pub
rosrun rrt_implement trajectory_pub
  • run rviz
rosrun rviz rviz