moribots/motion_planning

Motion Planning Library to accompany turtlebot3_from_scratch repository. Deployed PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, and MPPI.

Motion Planning Library with ROS

Self-directed independent study.

Installation Guide:

• Make a ROS Workspace: mkdir -p ws/src
• Go to src and clone my repo: cd ws/src/ git clone [email protected]:moribots/motion_planning.git
• Go back to the workspace root: cd ..
• Initialize nuturtle.rosinstall to get my rigid2d library and other utilities: wstool init src src/motion_planning/nuturtle.rosinstall
• Build the workspace: catkin_make and source: source devel/setup.bash

OSQP and OSQP-Eigen installation

OSQP OSQP-Eigen (C++ wrapper) - Do the manual install.

Notes for OSQP-Eigen:

• Choose /usr/local in cmake -DCMAKE_INSTALL_PREFIX:PATH=<custom-folder> ../
• Do sudo ln -s /usr/include/eigen3/Eigen /usr/local/include/Eigen to make a symbolic link for the Eigen header files so that OSQP-Eigen knows where to find them.

In this Repo:

• The map package: roslaunch map viz_map.launch

  • Probabilistic Roadmap:
  
  • Tunable-resolution Grid Map
  

• The global_planner package:

  • A* (green) on PRM:
  
  • Theta* (green) on PRM (A* in red for comparison): roslaunch global_planner astar.launch
  
  • A* (green) on Grid
  
  • LPA* with Simulated Grid Updates [re-evaluated cells in orange]: roslaunch global_planner incremental.launch lpa:=True
  
  • D* Lite on Grid [re-evaluated cells in orange]: roslaunch global_planner incremental.launch
  
  • Naive Potential Field (Local Minimum Escape TBD): roslaunch global_planner potential_field.launch
  

• Trajectory Optimization:

  • Model Predictive Path Integral Control on a parallel parking task: roslaunch control mppi_pentagon.launch parallel:=True
  
  • The associated states and controls for the above demo:
  

  NOTE: To launch waypoint following method, simply don't include the parallel argument.

  In a separate terminal, do:

  rosservice call /set_pose "x: 0.0 y: 0.0 theta: 0.0"

  To start the node.

motion_planning's Issues

Cool blog.

Your projects on your blog are interesting and awesome.
I like your robotics algorithms implementations from scratch.
Added you here: https://github.com/mithi/robotics-coursework/

run error

Hello, When I use it in ros-melodic, it shows error and cannot run:
No such key: 'M'
when evaluating expression 'params['M']'
Please, why does this happen？

Installation did not work for me

Can you make the installation instructions a bit more clear?
I am using Ubuntu 18.04 with ROS Melodic distro

I followed the README installation instruction, but cmake errors still occured

CMake Error at tb3/nuturtle_gazebo/CMakeLists.txt:20 (find_package):
  By not providing "Findnuturtlebot.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "nuturtlebot", but CMake did not find one.

  Could not find a package configuration file provided by "nuturtlebot" with
  any of the following names:

    nuturtlebotConfig.cmake
    nuturtlebot-config.cmake

  Add the installation prefix of "nuturtlebot" to CMAKE_PREFIX_PATH or set
  "nuturtlebot_DIR" to a directory containing one of the above files.  If
  "nuturtlebot" provides a separate development package or SDK, be sure it
  has been installed.


-- Configuring incomplete, errors occurred!

compile errors. please help

Hi,
I followed the guide to install using the readme. Used the wstool init src src/motion_planning/nurturtle.rosinstall to get all the packages into my catkin_ws/src.
Next, ran catkin_make to build everything. I am using ROS melodic on Ubuntu 18.
I am gettting the following errors. Not sure how to resolve this. Can you please help me with this. Thanks.

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:305 (message):
  catkin_package() include dir 'include' does not exist relative to
  '/home/rody/catkin_ws/src/motion_planning/control'
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  motion_planning/control/CMakeLists.txt:118 (catkin_package)


-- Configuring incomplete, errors occurred!
See also "/home/rody/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/rody/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed`
```