├── CMakeLists.txt
├── LICENSE
├── README.md
├── assets
├── PSO_Planner.png
├── pso_demo1.gif
├── pso_demo2.gif
├── pso_fitness.png
└── pso_ros_1.gif
├── include
├── global_planner_ros.h
├── pso.h
└── trajectoryGeneration.h
├── package.xml
├── params
└── pso_planner.yaml
├── pso_planner_plugin.xml
└── src
├── global_planner_ros.cpp
├── pso.cpp
├── pso_plan_node.cpp
└── trajectoryGeneration.cpp
/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(pso_global_planner)
3 |
4 | add_compile_options(-std=c++11)
5 |
6 | find_package(catkin REQUIRED
7 | angles
8 | COMPONENTS
9 | costmap_2d
10 | geometry_msgs
11 | nav_msgs
12 | pluginlib
13 | tf2_geometry_msgs
14 | tf2_ros
15 | nav_core
16 | roscpp
17 | std_msgs
18 | visualization_msgs
19 | tf
20 | )
21 |
22 | catkin_package(
23 | INCLUDE_DIRS include
24 | LIBRARIES ${PROJECT_NAME}
25 | CATKIN_DEPENDS
26 | costmap_2d
27 | geometry_msgs
28 | nav_msgs
29 | pluginlib
30 | tf2_geometry_msgs
31 | tf2_ros
32 | nav_core
33 | roscpp
34 | std_msgs
35 | visualization_msgs
36 | tf
37 | )
38 |
39 | include_directories(
40 | include
41 | ${catkin_INCLUDE_DIRS}
42 | )
43 |
44 | add_library(${PROJECT_NAME}
45 | src/global_planner_ros.cpp
46 | src/trajectoryGeneration.cpp
47 | src/pso.cpp
48 | )
49 |
50 | add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
51 | target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
52 |
53 | add_executable(pso_planner src/pso_plan_node.cpp)
54 | add_dependencies(pso_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
55 | target_link_libraries(pso_planner ${PROJECT_NAME} ${catkin_LIBRARIES})
56 |
57 | install(TARGETS ${PROJECT_NAME}
58 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
59 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
60 | RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
61 |
62 | install(DIRECTORY include/${PROJECT_NAME}/
63 | DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
64 | PATTERN ".svn" EXCLUDE)
65 |
66 | install(FILES pso_planner_plugin.xml
67 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
68 |
69 |
70 |
--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
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/README.md:
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1 | # PSO Global Path Planner for ROS
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11 | ## 1. Introduction
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13 | This ROS Global Planner Plugin implements the PSO (Particle Swarm Optimization) path planning algorithm. The examples below demonstrate its usage in both static and dynamic environments:
14 |
15 | ### (1) Static Environment:
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