RRT Implementation

This is a repo for RRT implementation on ROS.

struct

msg

• ellipsoid: define the ellipsoid with a center point, an angle and the length of the axises
• point: 2D point
• position: define the pose of a certain ellipsoid (robot) pose with a center point and an angle in [0, \pi)
• trajectory: a position array + a model
• pointsArray: a position array + the model's name, used to describe an area (arena, obstacles, robot)
• world: arena, robot and a obstacle array with a size, all use ellipsoid model

srv

• ellipsoid_points: convert position to pointsArray
• collision_detect: use a simple but imprecise method to estimate

rviz config

Global Optional

• Fixed Frame = "/root"

Marker

• arena
• obstacle0
• obstacle1
• robot
• trajectory
• graph

running note

after catkin_make && source devel/setup.bash

• run the server

rosrun rrt_implement ellipsoid_point_gen_srv
rosrun rrt_implement collision_detection_srv

• run the rrt planner

rosrun rrt_implement rrtPlanner

• run the publisher

rosrun rrt_implement environment_pub
rosrun rrt_implement trajectory_pub

• run rviz

rosrun rviz rviz