ompl_example_2d
所属分类：数学计算
开发工具：C++
文件大小：0KB
下载次数：1
上传日期：2023-05-03 13:50:02
上 传 者：
sh-1993
说明： 示例ROS节点，使用ompl库在2D占用地图上规划机器人的路径，
(Example ROS node which uses ompl library to plan the path of the robot on the 2D occupancy map,)
文件列表:
CMakeLists.txt (2704, 2023-05-02)
include/ (0, 2023-05-02)
include/ompl_example_2d/ (0, 2023-05-02)
include/ompl_example_2d/ompl_example_2d.hpp (1691, 2023-05-02)
launch/ (0, 2023-05-02)
launch/map_launch.py (1355, 2023-05-02)
launch/ompl_example_2d.launch.py (1409, 2023-05-02)
maps/ (0, 2023-05-02)
maps/map_home.pgm (233524, 2023-05-02)
maps/map_home.yaml (149, 2023-05-02)
package.xml (656, 2023-05-02)
param/ (0, 2023-05-02)
param/costmap_params.yaml (1787, 2023-05-02)
param/map_server_params.yaml (193, 2023-05-02)
rviz/ (0, 2023-05-02)
rviz/rviz_cfg.rviz (6064, 2023-05-02)
src/ (0, 2023-05-02)
src/ompl_example_2d.cpp (5786, 2023-05-02)
src/ompl_example_2d_node.cpp (2325, 2023-05-02)
# ompl_example_2d
This code works on Ros2 Humble. Check other branches of this repository to download the code for other ROS versions.
# Dependencies:
$ sudo apt-get install ros-humble-nav2-map-server libompl-dev ros-humble-moveit-planners-ompl
# Installation
$ cd ~/ros2_ws/src
$ git clone https://github.com/dominikbelter/ompl_example_2d
$ cd ~/ros2_ws/
$ colcon build --symlink-install
$ . install/setup.bash
# Run example
$ ros2 launch ompl_example_2d ompl_example_2d.launch.py
# Tasks
1. Use subscribed occupancy map to define forbiden states for the robot
2. Compare RRT-Connect algorithm with othes available planners
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