RL-RRT-Global-Planner
RL-RRT-Global-Planner copied to clipboard
A ROS package of a path-planning method based on Bidirectional RRT*, which use the intermidiate points as the global information instead of the full path.
Globla Planner Based on Bidirectional-RRT*
- A global planner based on Bidirectional-RRT*
- Use intermidiate points as the global information
- Use ROS Occupancy Map
System
- Ubuntu 20.04
- ROS Noetic (Read Map)
Usage
Environment setting
- Build a ROS package named
rrt_planner
- Replace with the files of this repository
-
$ catkin_make
Run the test program
$ roslaunch rrt_planner global_planner.launch test:=true
$ python3 ~/rrt_rl_review_ws/src/rrt_planner/script/rrt_planner_test.py --planner
Files
-
node.h
: structure of each node -
grid_map.h
&grid_map.cpp
: map processing, including collision-checking -
rrt_planner.h
&rrt_planner.cpp
: main part of the algorithm -
rrt_planner_client.py
: API to use the function of the algorithm through ROS Service (path-planning & map info.) -
rrt_planner_test.py
: the main file (test file) -
base_global_planner_params.yaml
: parameters setting
Result
- red: start
- green: destination
- cyan: intermediate points.