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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.