ROS node to interface with an ASV path planner
This package is meant to work in CCOMJHC's Project 11 simulation environment, the installation instructions for which are found here. It also uses my MPC ROS node, found here.
I've only ever used it on Ubuntu 18.04, so try anything else at your own risk.
Install the CCOMJHC Project 11 simulation environment. MOOS-IvP components are not required.
Clone this repository and the MPC ROS node into the project11 catkin workspace:
cd ~/project11/catkin_ws/src
git clone https://github.com/afb2001/path_planner.git
git clone https://github.com/afb2001/mpc.git
I have a test scenario runner node that's in development, which is here, and some test files for it here.
If everything works out you should be able to run catkin_make.
NOTE: I have a repository of undocumented semi-maintained scripts that can do most of the installation process for you here. If you plan to run any of them, please look at them first. I created them for my own personal use, since I've needed to set up this system many times, but maybe you'll find them helpful too.
See the simulation environment documentation for instructions on getting that running. My primary nodes are included in the standard launch files. Once everything is running, use the dynamic_reconfigure window to switch the path follower to my planner.