Globla Planner Based on Bidirectional-RRT*

• A global planner based on Bidirectional-RRT*
• Use intermidiate points as the global information
• Use ROS Occupancy Map

System

• Ubuntu 20.04
• ROS Noetic (Read Map)

Usage

Environment setting

1. Build a ROS package named rrt_planner
2. Replace with the files of this repository
3. $ catkin_make

Run the test program

$ roslaunch rrt_planner global_planner.launch test:=true
$ python3 ~/rrt_rl_review_ws/src/rrt_planner/script/rrt_planner_test.py --planner

Files

• node.h: structure of each node
• grid_map.h & grid_map.cpp: map processing, including collision-checking
• rrt_planner.h & rrt_planner.cpp: main part of the algorithm
• rrt_planner_client.py: API to use the function of the algorithm through ROS Service (path-planning & map info.)
• rrt_planner_test.py: the main file (test file)
• base_global_planner_params.yaml: parameters setting

Result

• red: start
• green: destination
• cyan: intermediate points.