yiyunevin / rl-rrt-global-planner

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

1. Build a ROS package named rrt_planner
2. Replace with the files of this repository
3. $ 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.

rl-rrt-global-planner's Issues

simulation

Can the simulation robot use both Turtlebot3 and KUKAyoubot?

how to finish the planning test ?

I have followed the instructions:
$ roslaunch rrt_planner global_planner.launch test:=true
$ python3 src/rrt_planner/script/rrt_planner_test.py --planner

now, I am stuck on here:

---

Open Map [stage_1][ INFO] [1688117531.975530249]: Loading map from image "./src/rrt_planner/maps/stage_1/map.pgm"
[ INFO] [1688117531.976247768]: Read a 97 X 97 map @ 0.050 m/cell
Done.
Preparing Global Service Client ... Done.

====================================
Given-Start-Goal Path

---

Click start point:

################################################

I clicked and input several x,y values, don't know how to keep going.

how to input start point and end point? to finish the planning.

Please give detailed example.