A quick and very dirty implementation of RRT* on ROS. Used https://ompl.kavrakilab.org/optimalPlanningTutorial.html and many other tutorials on StateValidityChecker, StateSampler and MotionValidator.

• ROS Kinetic or above

sudo apt install ros-`rosversion -d`-ompl \ 
 ros-melodic-map-server

• mkdir -p ~/catkin_ws/src/
• cd ~/catkin_ws/src/
• git clone https://github.com/xmfcx/ompl_rrtstar_ros.git
• cd ..
• catkin_make
• source devel/setup.bash
• roslaunch ompl_rrtstar_ros ompl_rrtstar_ros.launch

You should see the following