horverno / simple_random_trees

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simple_random_trees package

ROS 2 C++ package.

Description

ENG: A simple path plannig random tree algorithm variant. Implemented with a focus on visualization, rather than being a comprehensive random tree planning system.

HUN: Egy egyszerű útvonaltervezésre használható véletlenszerű fa algoritmus. Ez a megvalósítása a vizualizációra összpontosít, nem pedig egy átfogó véletlenszerű fa-alapú útvonal tervező rendszer.

Packages and build

It is assumed that the workspace is ~/ros2_ws/.

Clone the packages

cd ~/ros2_ws/src

git clone https://github.com/horverno/simple_random_trees

Build ROS 2 packages

cd ~/ros2_ws

colcon build --packages-select simple_random_trees --symlink-install

Run ROS 2 packages

Don't forget to source before ROS commands.

source ~/ros2_ws/install/setup.bash

ros2 launch simple_random_trees launch_example1.launch.py

ros2 run simple_random_trees display_tree_node

Diagram

Made with Mermaid diagram:

flowchart LR

A{{max_deg</br>param}}:::gray --> D([display_tree</br>node]):::gray
B{{max_dist</br>param}}:::gray --> D
C{{seed_size</br>param}}:::gray --> D
D --> |visualization_msgs/marker_array| P[ /path_marker_topic</br>topic]:::gray


classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742
classDef gray fill:#f6f8fa,stroke:#152742,stroke-width:2px,color:#152742
classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff

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