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ompl_rrtstar_ros

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OMPL RRTSTAR ROS

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.

Dependencies

ROS Kinetic or above

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

Building and Running

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