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.clang-format (1817, 2021-12-31)
LICENSE (1326, 2021-12-31)
assets (0, 2021-12-31)
assets\empty_map.gif (1425012, 2021-12-31)
assets\empty_map0.png (465, 2021-12-31)
assets\map_with_many_homotopy_classes.gif (1783385, 2021-12-31)
assets\map_with_many_homotopy_classes0.png (487, 2021-12-31)
assets\map_with_single_cube.gif (2017139, 2021-12-31)
assets\map_with_single_cube0.png (477, 2021-12-31)
assets\map_with_single_narrow_passage_gap.gif (2594249, 2021-12-31)
assets\map_with_single_narrow_passage_gap0.png (481, 2021-12-31)
assets\rviz_panel.png (54941, 2021-12-31)
ompl_2d_rviz_visualizer (0, 2021-12-31)
ompl_2d_rviz_visualizer\CMakeLists.txt (122, 2021-12-31)
ompl_2d_rviz_visualizer\package.xml (445, 2021-12-31)
ompl_2d_rviz_visualizer_msgs (0, 2021-12-31)
ompl_2d_rviz_visualizer_msgs\CMakeLists.txt (340, 2021-12-31)
ompl_2d_rviz_visualizer_msgs\package.xml (799, 2021-12-31)
ompl_2d_rviz_visualizer_msgs\srv (0, 2021-12-31)
ompl_2d_rviz_visualizer_msgs\srv\MapBounds.srv (60, 2021-12-31)
ompl_2d_rviz_visualizer_msgs\srv\Plan.srv (608, 2021-12-31)
ompl_2d_rviz_visualizer_msgs\srv\Reset.srv (33, 2021-12-31)
ompl_2d_rviz_visualizer_msgs\srv\State.srv (36, 2021-12-31)
ompl_2d_rviz_visualizer_ros (0, 2021-12-31)
ompl_2d_rviz_visualizer_ros\CMakeLists.txt (2681, 2021-12-31)
ompl_2d_rviz_visualizer_ros\config (0, 2021-12-31)
ompl_2d_rviz_visualizer_ros\config\planner_params.yaml (1138, 2021-12-31)
ompl_2d_rviz_visualizer_ros\config\rviz (0, 2021-12-31)
ompl_2d_rviz_visualizer_ros\config\rviz\visualizer.rviz (6839, 2021-12-31)
ompl_2d_rviz_visualizer_ros\include (0, 2021-12-31)
ompl_2d_rviz_visualizer_ros\include\ompl_2d_rviz_visualizer_ros (0, 2021-12-31)
ompl_2d_rviz_visualizer_ros\include\ompl_2d_rviz_visualizer_ros\collision_checker.h (3863, 2021-12-31)
ompl_2d_rviz_visualizer_ros\include\ompl_2d_rviz_visualizer_ros\map_loader.h (3377, 2021-12-31)
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OMPL 2D Rviz Visualizer ===== [](https://opensource.org/licenses/BSD-2-Clause)   Visualizing, animating and debugging Open Motion Planning Library (OMPL) algorithms in ROS Rviz. The package allows OMPL planners to find paths in R^2 state space with path minimizing objectives and utilizes the occupancy grid maps for collision checking. We have also added a rviz panel plugin to interface with OMPL.

## Installation ### Build from source Clone this package into your src folder of catkin_workspace: ``` cd /src git clone https://github.com/mlsdpk/ompl_2d_rviz_visualizer.git ``` Install necessary dependencies by running the following command in the root of your workspace: ``` cd .. rosdep install -y --from-paths src --ignore-src --rosdistro ``` Then compile with catkin: ``` catkin_make ``` ## Rviz Control Panel for interfacing with OMPL We provide an easy-to-use rviz panel plugin for interfacing with OMPL.  ## Maps Several occupancy grid maps are specifically chosen for testing OMPL planners, which can be found in most sampling-based planning literatures. In order to select a map, user has to manually provide the name of the map to the `map_name` argument in the [launch file](https://github.com/mlsdpk/ompl_2d_rviz_visualizer/blob/master/ompl_2d_rviz_visualizer_ros/launch/visualizer.launch). Current version of the visualizer provides four different maps: 1. empty_map 2. map_with_single_cube 3. map_with_many_homotopy_classes 4. map_with_single_narrow_passage_gap 1 | 2 | 3 | 4 :-:|:-:|:-:|:-: ||| ## Usage Run the following launch file to use the visualizer. You can directly pass map names via command line or change it manually in the file. ``` source /devel/setup.bash roslaunch ompl_2d_rviz_visualizer_ros visualizer.launch map_name:=empty_map ```

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