path_planning-master
所属分类：Linux/Unix编程
开发工具：Visual C++
文件大小：11KB
下载次数：14
上传日期：2017-06-23 11:24:03
上 传 者：
又四日
说明： 在ros平台下实现rrt算法，可以使用rviz仿真，方便算法开发。
(In the ROS platform to achieve RRT algorithm, you can use rviz simulation, easy to develop algorithms.)
文件列表:
path_planning (0, 2015-02-23)
path_planning\CMakeLists.txt (5560, 2015-02-23)
path_planning\include (0, 2015-02-23)
path_planning\include\path_planning (0, 2015-02-23)
path_planning\include\path_planning\obstacles.h (473, 2015-02-23)
path_planning\include\path_planning\rrt.h (1384, 2015-02-23)
path_planning\package.xml (2284, 2015-02-23)
path_planning\src (0, 2015-02-23)
path_planning\src\environment.cpp (3310, 2015-02-23)
path_planning\src\obstacles.cpp (869, 2015-02-23)
path_planning\src\rrt.cpp (4070, 2015-02-23)
path_planning\src\rrt_node.cpp (9220, 2015-02-23)
# path_planning
A path planning algorithm based on RRT implemented using ROS.
distro - indigo
The algorithm find an optimized path for a one obstacle environment. The visualtization is done in RVIZ and the code is written in C++.
The package has two executables:
1. ros_node
2. env_node
RVIZ parameters:
1. Frame_id = "/path_planner"
2. marker_topic = "path_planner_rrt"
Instructions:
1. Open terminal and type
$roscore
2. Open new terminal and go to the the root of your catkin workspace
$catkin_make
$source ./devel/setup.bash
$rosrun path_planner env_node
3. open new terminal
$rosrun rviz rviz
4. In the RVIZ window, change:
fixed frame under global option to "/path_planner"
add a marker and change marker topic to "path_planner_rrt"
5. Open new terminal
$rosrun path_planner rrt_node
The environment and the path will be visualized in RVIZ.
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