ardabbour / omplgp

A global path planner powered by OMPL.

OMPL Global Planner

A global planner powered by OMPL. This was made with the navigation stack of ROS in mind, but being completely independent of them both. ROS1 and ROS2 global planner plugins are planned (pun intended).

Requirements

Requirement	Domain	Version Tested
OMPL	Runtime	1.4.2
Google Test	Testing	1.10.x

Installation

Use CMake to build omplgp.

cmake .. # use -DBUILD_TESTS as applicable
make
make install # or make package to create a debian to install

Usage

#include <omplgp/omplgp.hpp>

int main() {
  // Let's create a simple costmap
  omplgp::CostMap2D my_cmap{
      {0.2, 0.1, 0.3, 0.4, 0.3},
      {0.4, 0.1, 0.5, 0.3, 0.8},
      {0.6, 0.3, 0.7, 0.3, 0.1},
      {0.4, 0.2, 0.1, 0.9, 0.4},
      {0.3, 0.8, 0.2, 0.8, 0.2},
  };

  // Set anything >= 0.5 to be recognized as an obstacle
  double my_ocost(0.5);

  // Let's use a simple RRT planner
  omplgp::Algorithm my_algo(omplgp::Algorithm::RRT);

  // Set the maximum time to use for planning to 2 seconds
  double my_tout(2.0);

  // Set the two extremes of the costmap to be the start and goal points
  omplgp::Point2D my_start(0.5, 0.5);
  omplgp::Point2D my_goal(4.5, 4.5);

  // Create the planner
  omplgp::OMPL2DPlanner my_rrt(my_algo, my_cmap, my_ocost, my_tout);

  // Find a plan!
  omplgp::Plan2D my_plan;
  bool success = my_rrt.plan(my_start, my_goal, my_plan);
  if (success) {
    std::cout << "Succeded in finding a plan! :)" << std::endl;
    std::cout << "Here is the plan!" << std::endl;
    for (const auto &i : my_plan) {
      std::cout << "x: " << i.x << std::endl;
      std::cout << "y: " << i.y << std::endl << std::endl;
    }
  } else {
    std::cout << "Failed in finding a plan! :(" << std::endl;
  }
}

Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

Please make sure to update tests as appropriate.

License

MIT