amos-chen98 / optimal_trajectory_generator

Generate minimum-jerk trajectory from input waypoints (pure Python implementation)

optimal trajectory generator

About

This is a lightweight Python implementation of a trajectory generator. Set some waypoints in RViz through a few clicks, and it will generate a minimum jerk trajectory in milliseconds!

Usage

1. Install

git clone https://github.com/Amos-Chen98/optimal_trajectory_generator.git
cd optimal_trajectory_generator
catkin build

Remember to source the setup.bash.

2. Play with this

In one terminal, run

roslaunch traj_generator demo.launch 

This will launch Rviz and config it properly.

Then, in another terminal, run

rosrun traj_generator main_node.py 

Now use the 2D Nav Goal to set a few waypoints in RViz. When the number of waypoints reaches the predefined number (default is 8), trajectory generation will be triggered automatically and you can see the trajectory with its dynamic.

Reference

[1] Z. Wang, X. Zhou, C. Xu and F. Gao, "Geometrically Constrained Trajectory Optimization for Multicopters," in IEEE Transactions on Robotics, vol. 38, no. 5, pp. 3259-3278, Oct. 2022, doi: 10.1109/TRO.2022.3160022.