ROS based global path planner using Ant Colony Optimization
The map provided my the map_server is not loading into the OccupancyGrid map object used in src/ACO.cpp and elsewhere. Feel free to fix the issues.
Principle working of an Ant Colony Optimizer is coded in /src/ACO.cpp.
- Place the "aco_ros" package in the source "src" folder for of your workspace.
- Use "catkin_make" to build or "catkin_make --pkg aco_ros" to build this package individually.
- Create your own launch file to launch your robot. Sample launch file "aco_test.launch" is given in launch folder.
- Make sure to specifiy a pre-built map to use for navigation, before the following line:
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" /> - Mention the custom move_base launch file to use with your robot.
<include file="$(find aco_ros)/launch/move_base_custom.launch"/> - If "move_base.launch" file is created separately, use the following line to access the aco_ros package as the global planner.
<param name="base_global_planner" value="Aco_planner/AcoPlanner" /> - In the following
<rosparam file="$(find..>, make sure to point the params to the costmap params file in your robot setup.
iPath: A C++ Library of Intelligent Global Path Planners for Mobile Robots with ROS Integration.
https://github.com/coins-lab/ipath