raakeshkamal/ros-rrt

RRT GUI

Please refer to a seperate README.md to understand the RRT GUI application.

Anytime-RRT

Please refer to a seperate README.md to understand the anytimeRRT ros package.

RRT & RRT*

Building from Source

Dependencies

The ros-rrt package depends only on the linear algebra library Eigen.

sudo apt-get install libeigen3-dev

The other packages depend additionally on the ROS standard installation (roscpp and nav_msgs).

Configuration

To configure the project before building please follow the following steps:

• Add package to your catkin workspace.

    cd catkin_ws/src
    git clone https://github.com/raakeshkamal/ros-rrt.git
  

• Add the path to your eigen3 library in CMakeLists.txt for both rrt and rrtstar.

    set(EIGEN3_INCLUDE_DIRS "<path to your eigen3 library>").
  

• build your package.

    cd ..
    catkin_make
  

Usage

Input files are stored in the maps folder for both rrt and rrtstar. The name for the input map file should be given in the map.yaml file in the maps folder of the respective packages.

image: map3.png

Inputs to the planner node can by given by simple editing the rrt.launch or rrtStar.launch file in the launch folder of the respective packages.

• map_file is the absolute path to the map.yaml in the maps folder of the current package.

    <arg name="map_file" value="/home/raakesh/Documents/ros-rrt/catkin_ws/src/rrt/maps/map.yaml">
  

• startX & startY represent the ( x , y ) coordinates of the starting point or the root of the RRT tree.

    <arg name = "startX" value="480" /> <!--  X coordinate of the starting point -->
    <arg name = "startY" value="480" /> <!--  Y coordinate of the starting point -->
  

• endX & endY represent the ( x , y ) coordinates of the end point or the goal of the RRT algo.

    <arg name = "endX" value="10" /> <!--  X coordinate of the goal -->
    <arg name = "endY" value="10" /> <!--  Y coordinate of the goal -->
  

• stepSize represents the step size to be used for adding new nodes.

    <arg name = "stepSize" value="10.0" /> <!--step size of RRT -->
  

• neighbourFactor is applicable to RRT*.It represents the radius of search with respect to the step size for the nearby nodes from the new node.For example if neighbourFactor is 2.0 the radius of search is 2.0 x stepSize

    <arg name = "neighbourFactor" value="2.0"/> <!--neighbour Factor for search-->
  

• maxIter represents the maximum number of iterations the RRT algo is supposed to run.

    <arg name = "maxIter" value="10000" /><!--max iterations of the RRT algo-->
  

• animate set this argument to true to visualize the RRT tree.

    <arg name = "animate" value="true" /> <!--set to true to visualize RRT-->
  

  

    	<arg name = "animate" value="false" /> <!--set to true to visualize RRT-->
  

  

similarly for RRT*

Launch

Once you have set the required parameters in the launch file of the respective package, run the RRT algo using

roslaunch rrt rrt.launch

And the RRT* algo using

roslaunch rrtstar rrtStar.launch

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.