aditya-vk / gls

Generalized Lazy Search

generalized_lazy_search

Under development for improvements.

Framework implements various lazy search algorithms. The planners have been implemented in OMPL.

Dependencies:

• C++11 or higher
• cmake
• OMPL
• Boost Graph Library

The CMakeLists.txt file supports catkin tools. Once you have created and initialized your workspace, you should be able to build the package by running catkin build gls.

The planner implemented under GLS return the shortest path on the roadmap graph it is planning on.

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Example:

An example graph and an environment have been provided to run with examples/test2d_image.cpp.

rosrun gls test2d_image -s <source_x> <source_y> -t <target_x> <target_y> -o <obstacle_file.png> -g <graph.graphml>

• The source and target locations are assumed to be in [0, 1]
• The obstacle file is for visualization purposes, and should correspond with the GraphML file.
• A short-cut to the default graph and obstacle files in the examples folder can be run with the following launch file:

roslaunch gls test.launch

Parameters: graph, obstacles, start_x, start_y, target_x, target_y