motion_planner

OMPL(Open Motion Planning Library) based 2D RRT* planner ROS Node

• Green Markers ==> Obstacles in the map (100 x 100 m)
• Blue marker ==> Start point
• Red Marker ==> Goal Point

Dependencies

Install ROS C++ API

$ sudo apt-get install ros-melodic-ompl

Install binary library

$ sudo apt-get install libompl-dev

Setup

Create a workspace

$ cd ~/
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin_init

move the motion_planner package to the src folder

$ mv ${package_dir} ~/catkin_ws/src/

build

$ catkin build

• motion_planner package has a service which is PlanningService.srv The planner accepts start and goal points via this service. Service structure is like following.

ROS custom service: PlanningService.srv

float64 start_point_x
float64 start_point_y
float64 goal_point_x
float64 goal_point_y
---
bool is_path_valid
time calculation_time

Run

launch the nodes

$ roslaunch motion_planner start.launch

call the service with

$ rosservice call /planning_service ...

example usage

$ rosservice call /planning_service "start_point_x: -10.0
start_point_y: -5.0
goal_point_x: 10.0
goal_point_y: 20.0"
is_path_valid: True
calculation_time:
  secs: 0
  nsecs:         0

Sources

• http://ompl.kavrakilab.org/planners.html
• https://ompl.kavrakilab.org/OptimalPlanning_8cpp_source.html