mmousaei / Local_Planner

This repository is an implementation of a simple robot local planner using ompl libraries

Local Planner Using OMPL

This repository consists of my attempts in learning ompl libraries for robot planning (based on ompl tuturials).

Dependencies

• Boost (version 1.54 or higher)
• CMake (version 2.8.7 or higher)
• Eigen (version 3.3 or higher)
• Assimp (version 3.0.1270 or higher)
• FCL (version 0.3.1 or higher)
• OMPL (version 1.3.3 or higher)

Installing Dependencies:

To install Boost, run the following command:

sudo apt-get update
sudo apt-get install libboost-all-dev

To install Cmake, run the following command:

sudo apt-get update
sudo apt-get install build-essential
sudo apt-get install cmake

To install Eigen, run the following command:

sudo apt install libeigen3-dev

To install Assimp, run the following command:

sudo apt-get install assimp-utils

To install FCL, run the following command:

sudo apt-get install libccd-dev # FCL Dependency
git clone https://github.com/flexible-collision-library/fcl
cd fcl
mkdir build
cd build
cmake ..
make -jN # N is the maximum number of parallel compile jobs
sudo make install

To install OMPL libraries, run the following command:

git clone https://github.com/ompl/omplapp.git
cd omplapp
git clone https://github.com/ompl/ompl.git
mkdir -p build/Release
cd build/Release
cmake ../..
make -jN # N is the maximum number of parallel compile jobs
sudo make install

How to run

After running rosnode ompl_planner_node, publish start and goal states in SE3 (as nav/msgs) and the planner will start working.