rrtx_global_planner

Global path planner plugin based on RRTX algorithm for move_base package

About

This package provides global path planner plugin based on RRTX algorithm for move_base package. The move_base package supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package. RRTx is an asymptotically optimal sampling-based replanning algorithm for dynamic environments where the obstacles unpredictably appears, disappears, or moves [1].

Attention

1. This package can be used as global planner in gazebo_navigation repository. Tip: Writing A Global Path Planner As Plugin in ROS
2. For simplicity, Algorithm 11 (removeObstacle) in RRTX is not applied in this code.
3. Optimization such as kdtrees is not applied.

Usage

1. Make your own workspace and build

   To use this planner, check it out in your local catkin workspace:

   $ cd ~/catkin_ws/src
   $ git clone https://github.com/kangbeenlee/rrtx_global_planner.git
   $ cd ..
   $ catkin_make
   

2. Place plugin as shared object

   Now the planner should be placed as shared object in the devel/lib folder. List the plugin with the command:

   $ rospack plugins --attrib=plugin nav_core
   

3. Use the plugin

   After 2nd step, you can use this plugin together with the move_base node. Then, use the plugin in your move_base_parameters.yaml file:

   base_global_planner: rrtx_global_planner/RRTXPlanner
   

Reference

[1] RRTX: Asymptotically Optimal Single-Query Sampling-Based Motion Planning with Quick Replanning. Michael Otte and Emilio Frazzoli. The International Journal of Robotics Research. Volume 29, Issue 7. 2016. p. 797-822.

[2] RRTX code with the Julia programming language by Michael Otte.