LKSeng / ros_noetic_2d_planning_demo

A* search on 2D map, grid & quadtree

This package remained surprising intact despite the vicissitudes of time. However, for this demonstration to work, some aspects of it required some updates, which were incorporated. On ros-noetic, this can be built with catkin tools.

Author: Menglong Zhu, menglong AT cis upenn edu

Updated by: LKSeng

DESCRIPTION: Path planning package. Two approaches are implemented in this package

1. uniform grid over map
2. quadtree decomposition over the map Planning algorithm is A* search

video of quadtree decomposition: http://www.youtube.com/watch?v=jqjlsIAQDT0

visualization use ROS markers in rviz

COMPILATION:

catkin build ros_noetic_2d_planning_demo

HOW TO RUN:

rosrun ros_noetic_2d_planning_demo run_planner ~/catkin_ws/src/ros_noetic_2d_planning_demo/maps/map0.txt

which generate intermediate text file for output.

Alternatively, you can run

roslaunch ros_noetic_2d_planning_demo show_planner.launch

NOTE: This implementaion assume obstacles are all circles