ompl ReedsSheppCurve rviz

creating a Reeds-Shepp curve with ompl
set start and end pose with rviz
show result in path and marker array

how to run

roscore
rosrun omplrscurve omplrscurve
roscd omplrscurve/rviz
rviz -d myrviz.rviz

set Start pose with 2D Pose Estimate
set End pose with 2D Nav Goal

Dependencies

ubuntu 18.04, ROS1 melodic

sudo apt install libompl-dev  

result