Visualizing, animating and debugging Open Motion Planning Library (OMPL) algorithms in ROS Rviz. The package allows OMPL planners to find paths in R^2 state space with path minimizing objectives and utilizes the occupancy grid maps for collision checking. We have also added a rviz panel plugin to interface with OMPL.
Clone this package into your src folder of catkin_workspace:
cd <yr_catkin_ws>/src
git clone https://github.com/mlsdpk/ompl_2d_rviz_visualizer.git
Install necessary dependencies by running the following command in the root of your workspace:
cd ..
rosdep install -y --from-paths src --ignore-src --rosdistro <YOUR_ROS_DISTRO>
Then compile with catkin:
catkin_make
We provide an easy-to-use rviz panel plugin for interfacing with OMPL.
Several occupancy grid maps are specifically chosen for testing OMPL planners, which can be found in most sampling-based planning literatures. In order to select a map, user has to manually provide the name of the map to the map_name argument in the launch file. Current version of the visualizer provides four different maps:
- empty_map
- map_with_single_cube
- map_with_many_homotopy_classes
- map_with_single_narrow_passage_gap
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Run the following launch file to use the visualizer. You can directly pass map names via command line or change it manually in the file.
source <YOUR_CATKIN_WORKSPACE_PATH>/devel/setup.bash
roslaunch ompl_2d_rviz_visualizer_ros visualizer.launch map_name:=empty_map