kimhyung / move-base-ompl

ROS move-base planner plugin using ompl

move-base-ompl

ROS move-base planner plugin using ompl

About

The move-base package for ROS contains several planners for 2D navigation of moving base. This package provides two plugins to expose the routing capabilities of the OMPL library.

Attention: This work is very experimental and pull-requests and suggestions are welcome!

Usage

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

$ cd ~/catkin_ws/src
$ git clone https://github.com/windelbouwman/move-base-ompl.git
$ cd ..
$ catkin_make

Now the planner should be placed as shared object in the devel/lib folder. Now you can use in together with the move_base node.

List the plugin with the command:

$ rospack plugins --attrib=plugin nav_core

Then use the plugin in your move_base_parameters.yaml file:

base_global_planner: ompl_global_planner/OmplGlobalPlanner