pinggooo / RRT

2022-W Samsung Research Intern Project

RRT Algorithms for Robot path planning

- RRT
- RRT Connect
- RRT*

Requirements

- ROS2 foxy
- C++ 14
- Eigen3
- Catch2
- Rviz
- Gazebo
- Navigation2
- Turtlebot3 packages

Usage

Compile

$ cd ~/xxx_ws/src
$ git clone https://github.com/pinggooo/RRT
$ cd ~/xxx_ws
$ colcon build --symlink-install

Execution

$ ros2 run rrt rrt_test

$ cd ~/xxx_ws/src/turtlebot3/turtlebot3_navigation2/map
$ ros2 run nav2_map_server map_server --ros-args -p yaml_filename:="turtlebot3_world.yaml"

$ cd ~/xxx_ws/src/turtlebot3/turtlebot3_navigation2/map
$ ros2 run nav2_util lifecycle_bringup map_server

(1) Raw RRT path   (2) Post-processed RRT path

Intern Associate, Robot Intelligence Team, Samsung Research