├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── UML ├── Initial │ ├── activity_diagram_RRT.jpg │ ├── activity_diagram_obstacle_avoidance.jpg │ ├── class_diagram_RRTPlanner.jpeg │ └── class_diagram_vertex.jpeg └── Revised │ ├── class_diagram_RRTPlanner.jpeg │ ├── class_diagram_Vertex.jpeg │ └── turtlebot_rrt_activity_diagram_revised.png ├── config ├── move_base_params.yaml └── rrt_global_planner_params.yaml ├── docs ├── MAP_CONVERSION.md ├── README_DEPENDENCIES.md ├── html │ ├── _c_make_c_compiler_id_8c.html │ ├── _c_make_c_compiler_id_8c.js │ ├── _c_make_c_x_x_compiler_id_8cpp.html │ ├── _c_make_c_x_x_compiler_id_8cpp.js │ ├── _m_a_p___c_o_n_v_e_r_s_i_o_n_8md.html │ ├── _r_e_a_d_m_e_8md.html │ ├── _r_e_a_d_m_e___d_e_p_e_n_d_e_n_c_i_e_s_8md.html │ ├── annotated.html │ ├── annotated_dup.js │ ├── arrowdown.png │ ├── arrowright.png │ ├── bc_s.png │ ├── bdwn.png │ ├── c__standard__headers__indexer_8c.html │ ├── c__standard__headers__indexer_8c__incl.map │ ├── c__standard__headers__indexer_8c__incl.md5 │ ├── c__standard__headers__indexer_8c__incl.png │ ├── classes.html │ ├── classturtlebot__rrt_1_1_r_r_t_planner-members.html │ ├── classturtlebot__rrt_1_1_r_r_t_planner.html │ ├── classturtlebot__rrt_1_1_r_r_t_planner.js │ ├── classturtlebot__rrt_1_1_r_r_t_planner__coll__graph.map │ ├── classturtlebot__rrt_1_1_r_r_t_planner__coll__graph.md5 │ ├── classturtlebot__rrt_1_1_r_r_t_planner__coll__graph.png │ ├── classturtlebot__rrt_1_1_r_r_t_planner__inherit__graph.map │ ├── classturtlebot__rrt_1_1_r_r_t_planner__inherit__graph.md5 │ ├── classturtlebot__rrt_1_1_r_r_t_planner__inherit__graph.png │ ├── classturtlebot__rrt_1_1_vertex-members.html │ ├── classturtlebot__rrt_1_1_vertex.html │ ├── classturtlebot__rrt_1_1_vertex.js │ ├── closed.png │ ├── cpp__standard__headers__indexer_8cpp.html │ ├── dir_000008_000004.html │ ├── dir_000009_000004.html │ ├── dir_017ad5e908c41501f6a06b5119b37293.html │ ├── dir_017ad5e908c41501f6a06b5119b37293.js │ ├── dir_13e138d54eb8818da29c3992edef070a.html │ ├── dir_13e138d54eb8818da29c3992edef070a.js │ ├── dir_13e138d54eb8818da29c3992edef070a_dep.map │ ├── dir_13e138d54eb8818da29c3992edef070a_dep.md5 │ ├── dir_13e138d54eb8818da29c3992edef070a_dep.png │ ├── dir_2c333aeabd346f33518e235a93545ab3.html │ ├── dir_2c333aeabd346f33518e235a93545ab3.js │ ├── dir_34e32b2767b9a66498b8d81e5df7818f.html │ ├── dir_34e32b2767b9a66498b8d81e5df7818f.js │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.js │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.map │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.png │ ├── dir_cd3db5597f2261188045d3f032b6e500.html │ ├── dir_cd3db5597f2261188045d3f032b6e500.js │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ ├── dir_d44c64559bbebec7f509842c48db8b23.js │ ├── dir_d7cd8a5d445ac91d049efea6ee2e7c69.html │ ├── dir_d7cd8a5d445ac91d049efea6ee2e7c69.js │ ├── dir_dec13c9416df15bd5a92c365c23769ba.html │ ├── dir_dec13c9416df15bd5a92c365c23769ba.js │ ├── dir_f23a14af306a253ec22f027bb70b8c4d.html │ ├── dir_f23a14af306a253ec22f027bb70b8c4d.js │ ├── doc.png │ ├── doxygen.css │ ├── doxygen.png │ ├── dynsections.js │ ├── feature__tests_8c.html │ ├── feature__tests_8c.js │ ├── feature__tests_8cxx.html │ ├── feature__tests_8cxx.js │ ├── files.html │ ├── files.js │ ├── folderclosed.png │ ├── folderopen.png │ ├── functions.html │ ├── functions_func.html │ ├── globals.html │ ├── globals_defs.html │ ├── globals_func.html │ ├── globals_vars.html │ ├── graph_legend.html │ ├── graph_legend.md5 │ ├── graph_legend.png │ ├── hierarchy.html │ ├── hierarchy.js │ ├── index.html │ ├── inherit_graph_0.map │ ├── inherit_graph_0.md5 │ ├── inherit_graph_0.png │ ├── inherit_graph_1.map │ ├── inherit_graph_1.md5 │ ├── inherit_graph_1.png │ ├── inherits.html │ ├── jquery.js │ ├── md_README.html │ ├── md_docs_MAP_CONVERSION.html │ ├── md_docs_README_DEPENDENCIES.html │ ├── namespaces.html │ ├── namespaces.js │ ├── namespaceturtlebot__rrt.html │ ├── namespaceturtlebot__rrt.js │ ├── nav_f.png │ ├── nav_g.png │ ├── nav_h.png │ ├── navtree.css │ ├── navtree.js │ ├── navtreedata.js │ ├── navtreeindex0.js │ ├── open.png │ ├── pages.html │ ├── resize.js │ ├── search │ │ ├── all_0.html │ │ ├── all_0.js │ │ ├── all_1.html │ │ ├── all_1.js │ │ ├── all_2.html │ │ ├── all_2.js │ │ ├── all_3.html │ │ ├── all_3.js │ │ ├── all_4.html │ │ ├── all_4.js │ │ ├── all_5.html │ │ ├── all_5.js │ │ ├── all_6.html │ │ ├── all_6.js │ │ ├── all_7.html │ │ ├── all_7.js │ │ ├── all_8.html │ │ ├── all_8.js │ │ ├── all_9.html │ │ ├── all_9.js │ │ ├── all_a.html │ │ ├── all_a.js │ │ ├── all_b.html │ │ ├── all_b.js │ │ ├── all_c.html │ │ ├── all_c.js │ │ ├── all_d.html │ │ ├── all_d.js │ │ ├── classes_0.html │ │ ├── classes_0.js │ │ ├── classes_1.html │ │ ├── classes_1.js │ │ ├── close.png │ │ ├── defines_0.html │ │ ├── defines_0.js │ │ ├── defines_1.html │ │ ├── defines_1.js │ │ ├── defines_2.html │ │ ├── defines_2.js │ │ ├── defines_3.html │ │ ├── defines_3.js │ │ ├── defines_4.html │ │ ├── defines_4.js │ │ ├── defines_5.html │ │ ├── defines_5.js │ │ ├── files_0.html │ │ ├── files_0.js │ │ ├── files_1.html │ │ ├── files_1.js │ │ ├── files_2.html │ │ ├── files_2.js │ │ ├── files_3.html │ │ ├── files_3.js │ │ ├── files_4.html │ │ ├── files_4.js │ │ ├── files_5.html │ │ ├── files_5.js │ │ ├── functions_0.html │ │ ├── functions_0.js │ │ ├── functions_1.html │ │ ├── functions_1.js │ │ ├── functions_2.html │ │ ├── functions_2.js │ │ ├── functions_3.html │ │ ├── functions_3.js │ │ ├── functions_4.html │ │ ├── functions_4.js │ │ ├── functions_5.html │ │ ├── functions_5.js │ │ ├── functions_6.html │ │ ├── functions_6.js │ │ ├── mag_sel.png │ │ ├── namespaces_0.html │ │ ├── namespaces_0.js │ │ ├── nomatches.html │ │ ├── pages_0.html │ │ ├── pages_0.js │ │ ├── pages_1.html │ │ ├── pages_1.js │ │ ├── search.css │ │ ├── search.js │ │ ├── search_l.png │ │ ├── search_m.png │ │ ├── search_r.png │ │ ├── searchdata.js │ │ ├── variables_0.html │ │ ├── variables_0.js │ │ ├── variables_1.html │ │ └── variables_1.js │ ├── splitbar.png │ ├── sync_off.png │ ├── sync_on.png │ ├── tab_a.png │ ├── tab_b.png │ ├── tab_h.png │ ├── tab_s.png │ ├── tabs.css │ ├── turtlebot__rrt_8cc.html │ ├── turtlebot__rrt_8cc__incl.map │ ├── turtlebot__rrt_8cc__incl.md5 │ ├── turtlebot__rrt_8cc__incl.png │ ├── turtlebot__rrt_8h.html │ ├── turtlebot__rrt_8h__dep__incl.map │ ├── turtlebot__rrt_8h__dep__incl.md5 │ ├── turtlebot__rrt_8h__dep__incl.png │ ├── turtlebot__rrt_8h__incl.map │ ├── turtlebot__rrt_8h__incl.md5 │ ├── turtlebot__rrt_8h__incl.png │ ├── turtlebot__rrt_8h_source.html │ ├── turtlebotrrt__test_8cc.html │ ├── turtlebotrrt__test_8cc.js │ ├── turtlebotrrt__test_8cc__incl.map │ ├── turtlebotrrt__test_8cc__incl.md5 │ ├── turtlebotrrt__test_8cc__incl.png │ ├── vertex_8cc.html │ ├── vertex_8cc__incl.map │ ├── vertex_8cc__incl.md5 │ ├── vertex_8cc__incl.png │ ├── vertex_8h.html │ ├── vertex_8h__dep__incl.map │ ├── vertex_8h__dep__incl.md5 │ ├── vertex_8h__dep__incl.png │ ├── vertex_8h__incl.map │ ├── vertex_8h__incl.md5 │ ├── vertex_8h__incl.png │ └── vertex_8h_source.html └── images │ ├── simple_maze_2d.png │ ├── simple_maze_gazebo.png │ └── turtlebot_rrt_demo.png ├── include └── turtlebot_rrt │ ├── turtlebot_rrt.h │ └── vertex.h ├── launch ├── includes │ ├── amcl.launch.xml │ └── move_base.launch.xml └── rrt_planner.launch ├── maps ├── simple_maze.pgm ├── simple_maze.rviz ├── simple_maze.world └── simple_maze.yaml ├── package.xml ├── results ├── cppcheck_results.txt └── cpplint_output.txt ├── rrt_planner_plugin.xml ├── src ├── turtlebot_rrt.cc └── vertex.cc └── test ├── rrtpath_test.cc └── vertex_test.cc /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | bin/ 3 | lib/ 4 | msg_gen/ 5 | srv_gen/ 6 | msg/*Action.msg 7 | msg/*ActionFeedback.msg 8 | msg/*ActionGoal.msg 9 | msg/*ActionResult.msg 10 | msg/*Feedback.msg 11 | msg/*Goal.msg 12 | msg/*Result.msg 13 | msg/_*.py 14 | 15 | # Generated by dynamic reconfigure 16 | *.cfgc 17 | /cfg/cpp/ 18 | /cfg/*.py 19 | 20 | # Ignore generated docs 21 | *.dox 22 | *.wikidoc 23 | 24 | # eclipse stuff 25 | .project 26 | .cproject 27 | 28 | # qcreator stuff 29 | CMakeLists.txt.user 30 | 31 | srv/_*.py 32 | *.pcd 33 | *.pyc 34 | qtcreator-* 35 | *.user 36 | 37 | /planning/cfg 38 | /planning/docs 39 | /planning/src 40 | 41 | *~ 42 | 43 | # Emacs 44 | .#* 45 | 46 | # Catkin custom files 47 | CATKIN_IGNORE 48 | -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- 1 | sudo: required 2 | language: cpp 3 | services: 4 | - docker 5 | 6 | env: 7 | global: 8 | - toolset_branch: master 9 | - server_type: travis 10 | - ros_release_name: kinetic 11 | - ubuntu_version_name: xenial 12 | - used_modules: check_cache, check_build, code_style_check, check_deb_make, codecov_tool 13 | - remote_shell_script: 'https://raw.githubusercontent.com/shadow-robot/sr-build-tools/$toolset_branch/bin/sr-run-ci-build.sh' 14 | 15 | install: 16 | - sudo apt-get install lcov 17 | - gem install coveralls-lcov 18 | 19 | script: 20 | - curl -s "$( echo "$remote_shell_script" | sed 's/#/%23/g' )" | bash -x /dev/stdin "$toolset_branch" $server_type $used_modules 21 | 22 | -after_success: 23 | - - coveralls --root .. -E ".*external.*" -E ".*CMakeFiles.*" -E ".*test/.*.cc.*" 24 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(turtlebot_rrt) 3 | add_definitions(-std=c++11 -Wall -Werror) 4 | 5 | find_package(catkin REQUIRED 6 | COMPONENTS 7 | roscpp 8 | roslint 9 | tf 10 | nav_core 11 | costmap_2d 12 | base_local_planner 13 | pluginlib 14 | visualization_msgs 15 | ) 16 | 17 | #find_package(Eigen3 REQUIRED) 18 | 19 | include_directories(include ${catkin_INCLUDE_DIRS}) 20 | 21 | #add_definitions(${EIGEN3_DEFINITIONS}) 22 | 23 | catkin_package( 24 | INCLUDE_DIRS include 25 | LIBRARIES ${PROJECT_NAME} 26 | CATKIN_DEPENDS 27 | roscpp 28 | pluginlib 29 | costmap_2d 30 | base_local_planner 31 | nav_core 32 | visualization_msgs 33 | ) 34 | 35 | add_library(${PROJECT_NAME} 36 | src/turtlebot_rrt.cc 37 | src/vertex.cc 38 | ) 39 | 40 | add_dependencies(turtlebot_rrt ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 41 | target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) 42 | 43 | 44 | # Testing 45 | if (CATKIN_ENABLE_TESTING) 46 | catkin_add_gtest(vertex_test test/vertex_test.cc) 47 | catkin_add_gtest(rrt_test test/rrtpath_test.cc) 48 | 49 | target_link_libraries(rrt_test ${PROJECT_NAME} ${catkin_LIBRARIES}) 50 | target_link_libraries(vertex_test ${catkin_LIBRARIES} ${PROJECT_NAME}) 51 | endif (CATKIN_ENABLE_TESTING) 52 | 53 | install(TARGETS ${PROJECT_NAME} 54 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 55 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 56 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 57 | ) 58 | 59 | install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) 60 | install(FILES rrt_planner_plugin.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 61 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2017, Jessica H 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | * Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | * Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | * Neither the name of the copyright holder nor the names of its 17 | contributors may be used to endorse or promote products derived from 18 | this software without specific prior written permission. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 21 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 22 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 24 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 25 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 26 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 28 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 30 | -------------------------------------------------------------------------------- /UML/Initial/activity_diagram_RRT.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/UML/Initial/activity_diagram_RRT.jpg -------------------------------------------------------------------------------- /UML/Initial/activity_diagram_obstacle_avoidance.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/UML/Initial/activity_diagram_obstacle_avoidance.jpg -------------------------------------------------------------------------------- /UML/Initial/class_diagram_RRTPlanner.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/UML/Initial/class_diagram_RRTPlanner.jpeg -------------------------------------------------------------------------------- /UML/Initial/class_diagram_vertex.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/UML/Initial/class_diagram_vertex.jpeg -------------------------------------------------------------------------------- /UML/Revised/class_diagram_RRTPlanner.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/UML/Revised/class_diagram_RRTPlanner.jpeg -------------------------------------------------------------------------------- /UML/Revised/class_diagram_Vertex.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/UML/Revised/class_diagram_Vertex.jpeg -------------------------------------------------------------------------------- /UML/Revised/turtlebot_rrt_activity_diagram_revised.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/UML/Revised/turtlebot_rrt_activity_diagram_revised.png -------------------------------------------------------------------------------- /config/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | # Move base node parameters. For full documentation of the parameters in this file, please see 2 | # 3 | # http://www.ros.org/wiki/move_base 4 | # 5 | shutdown_costmaps: false 6 | 7 | controller_frequency: 5.0 8 | controller_patience: 3.0 9 | 10 | 11 | planner_frequency: 1.0 12 | planner_patience: 30.0 13 | 14 | oscillation_timeout: 30.0 15 | oscillation_distance: 0.2 16 | 17 | max_planning_retries: 1 18 | 19 | # local planner - default is trajectory rollout 20 | base_local_planner: "dwa_local_planner/DWAPlannerROS" 21 | 22 | base_global_planner: "turtlebot_rrt/RRTPlanner" #alternatives: global_planner/GlobalPlanner, carrot_planner/CarrotPlanner 23 | 24 | 25 | #We plan to integrate recovery behaviors for turtlebot but currently those belong to gopher and still have to be adapted. 26 | ## recovery behaviors; we avoid spinning, but we need a fall-back replanning 27 | #recovery_behavior_enabled: true 28 | 29 | #recovery_behaviors: 30 | #- name: 'super_conservative_reset1' 31 | #type: 'clear_costmap_recovery/ClearCostmapRecovery' 32 | #- name: 'conservative_reset1' 33 | #type: 'clear_costmap_recovery/ClearCostmapRecovery' 34 | #- name: 'aggressive_reset1' 35 | #type: 'clear_costmap_recovery/ClearCostmapRecovery' 36 | #- name: 'clearing_rotation1' 37 | #type: 'rotate_recovery/RotateRecovery' 38 | #- name: 'super_conservative_reset2' 39 | #type: 'clear_costmap_recovery/ClearCostmapRecovery' 40 | #- name: 'conservative_reset2' 41 | #type: 'clear_costmap_recovery/ClearCostmapRecovery' 42 | #- name: 'aggressive_reset2' 43 | #type: 'clear_costmap_recovery/ClearCostmapRecovery' 44 | #- name: 'clearing_rotation2' 45 | #type: 'rotate_recovery/RotateRecovery' 46 | 47 | #super_conservative_reset1: 48 | #reset_distance: 3.0 49 | #conservative_reset1: 50 | #reset_distance: 1.5 51 | #aggressive_reset1: 52 | #reset_distance: 0.0 53 | #super_conservative_reset2: 54 | #reset_distance: 3.0 55 | #conservative_reset2: 56 | #reset_distance: 1.5 57 | #aggressive_reset2: 58 | #reset_distance: 0.0 59 | -------------------------------------------------------------------------------- /config/rrt_global_planner_params.yaml: -------------------------------------------------------------------------------- 1 | RRTPlanner: 2 | visualize_potential: false 3 | allow_unknown: true 4 | planner_window_x: 0.0 5 | planner_window_y: 0.0 6 | default_tolerance: 0.0 7 | step_size: 2.5 8 | delta: 1 9 | run_time: 5 10 | max_iterations: 200000 11 | goal_radius: 1 12 | -------------------------------------------------------------------------------- /docs/MAP_CONVERSION.md: -------------------------------------------------------------------------------- 1 | # Converting Maps from Gazebo .world Files to YAML Format 2 | One of the requirements for this project was to provide a demo in Gazebo. Unfortunately there isn't a clean way (that I have found) to create a world in Gazebo and have it work with the costmaps required in the navigation stack. 3 | 4 | Overall, what I did was to create a world in Gazebo. I used the building editor to create a simplified maze and then saved it as a .world file. To do the conversion I used a simulated Turtlebot3 and the packaged SLAM algorithm to drive around the map and map it in Rviz. 5 | 6 | Unfortunately, this method does require you spend some time driving your robot around using the teleop until you are satisfied with your map. 7 | 8 | ![alt tag](images/simple_maze_gazebo.png "Gazebo Simple Maze world") 9 | 10 | The method I used came from the Turtlebot3 [tutorials](http://turtlebot3.readthedocs.io/en/latest/index.html) and worked on Ubuntu 16.04 running ROS Kinetic Kame. 11 | 12 | ## Installing Turtlebot3 13 | 1. The first step in installing Turtlebot3 is to install all of the dependencies. In a terminal window: 14 | ``` 15 | sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation 16 | ``` 17 | 18 | 2. The next step is to install the Turtlebot3 package 19 | ``` 20 | cd ~/catkin_ws/src/ 21 | git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git 22 | git clone https://github.com/ROBOTIS-GIT/turtlebot3.git 23 | git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git 24 | cd ~/catkin_ws && catkin_make 25 | ``` 26 | 27 | Full instructions can be found [here](http://turtlebot3.robotis.com/en/latest/pc_software.html#install-dependent-packages). 28 | 29 | ## Running Turtlebot3 SLAM 30 | Once I created my .world file in Gazebo, I modified the turtlebot3_world.launch file to point to the map I had created instead of the default map. 31 | 32 | ```xml 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | ``` 55 | Once you have modified the launch file so that your world is in place, launch the Turtlebot3. 56 | 57 | ``` 58 | export TURTLEBOT3_MODEL=burger 59 | roslaunch turtlebot3_gazebo turtlebot3_world.launch 60 | ``` 61 | To launch the SLAM algorithm: 62 | ``` 63 | export TURTLEBOT3_MODEL=burger 64 | roslaunch turtlebot3_slam turtlebot3_slam.launch 65 | ``` 66 | To show the RViz visualization: 67 | ``` 68 | rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz 69 | ``` 70 | To launch the keyboard teleoperation: 71 | ``` 72 | roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch 73 | ``` 74 | Now you just drive it around until you're happy with how the map looks in RViz. 75 | ![alt tag](images/simple_maze_2d.png "RViz Simple Maze") 76 | ## Saving Your Map 77 | Open a new terminal window: 78 | ``` 79 | rosrun map_server map_saver -f ~/map 80 | ``` 81 | Replace ```~/map``` with the filename you would like to save your map as. For example, ```~/simple_maze``` will give you a ```simple_maze.pgm``` and ```simple_maze.yaml```. 82 | 83 | -------------------------------------------------------------------------------- /docs/README_DEPENDENCIES.md: -------------------------------------------------------------------------------- 1 | # RRT Path Planner Plugin Dependency Installation Instructions 2 | This file has installation instructions for packages that the RRT path planner plugin relies on. 3 | 4 | - [ROS Kinetic Kame](#ros) 5 | - [Catkin](#catkin) 6 | 7 | ## ROS 8 | Full instructions for installing ROS Kinetic Kame can be found [here](http://wiki.ros.org/kinetic/Installation). 9 | 10 | The following instructions are for an Ubuntu installation. 11 | 12 | 1. Set up your sources.list 13 | ``` 14 | sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 15 | ``` 16 | 17 | 2. Set up your keys 18 | ```http://wiki.ros.org/gtest 19 | sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 20 | ``` 21 | 22 | 3. Installation 23 | Make sure your Debian package is up to date: 24 | ``` 25 | sudo apt-get update 26 | ``` 27 | 28 | Perform a full desktop install: 29 | ``` 30 | sudo apt-get install ros-kinetic-desktop-full 31 | ``` 32 | 33 | 4. Initialize rosdep 34 | ``` 35 | sudo rosdep init 36 | rosdep update 37 | ``` 38 | 39 | 5. Environment set up 40 | ``` 41 | echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc 42 | source ~/.bashrc 43 | ``` 44 | 45 | 6. 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120 | 121 | 129 | 130 | 131 | -------------------------------------------------------------------------------- /docs/html/dir_d44c64559bbebec7f509842c48db8b23.js: -------------------------------------------------------------------------------- 1 | var dir_d44c64559bbebec7f509842c48db8b23 = 2 | [ 3 | [ "turtlebot_rrt", "dir_d7cd8a5d445ac91d049efea6ee2e7c69.html", "dir_d7cd8a5d445ac91d049efea6ee2e7c69" ] 4 | ]; -------------------------------------------------------------------------------- /docs/html/dir_d7cd8a5d445ac91d049efea6ee2e7c69.js: -------------------------------------------------------------------------------- 1 | var dir_d7cd8a5d445ac91d049efea6ee2e7c69 = 2 | [ 3 | [ "turtlebot_rrt.h", "turtlebot__rrt_8h.html", [ 4 | [ "RRTPlanner", "classturtlebot__rrt_1_1_r_r_t_planner.html", "classturtlebot__rrt_1_1_r_r_t_planner" ] 5 | ] ], 6 | [ "vertex.h", "vertex_8h.html", [ 7 | [ "Vertex", "classturtlebot__rrt_1_1_vertex.html", "classturtlebot__rrt_1_1_vertex" ] 8 | ] ] 9 | ]; -------------------------------------------------------------------------------- /docs/html/dir_dec13c9416df15bd5a92c365c23769ba.js: -------------------------------------------------------------------------------- 1 | var dir_dec13c9416df15bd5a92c365c23769ba = 2 | [ 3 | [ "CMakeCCompilerId.c", "_c_make_c_compiler_id_8c.html", "_c_make_c_compiler_id_8c" ] 4 | ]; -------------------------------------------------------------------------------- /docs/html/dir_f23a14af306a253ec22f027bb70b8c4d.js: -------------------------------------------------------------------------------- 1 | var dir_f23a14af306a253ec22f027bb70b8c4d = 2 | [ 3 | [ "c_standard_headers_indexer.c", "c__standard__headers__indexer_8c.html", null ], 4 | [ "cpp_standard_headers_indexer.cpp", "cpp__standard__headers__indexer_8cpp.html", null ] 5 | ]; -------------------------------------------------------------------------------- /docs/html/doc.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/docs/html/doc.png -------------------------------------------------------------------------------- /docs/html/doxygen.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/docs/html/doxygen.png -------------------------------------------------------------------------------- /docs/html/dynsections.js: -------------------------------------------------------------------------------- 1 | function toggleVisibility(linkObj) 2 | { 3 | var base = $(linkObj).attr('id'); 4 | var summary = $('#'+base+'-summary'); 5 | var content = $('#'+base+'-content'); 6 | var trigger = $('#'+base+'-trigger'); 7 | var src=$(trigger).attr('src'); 8 | if (content.is(':visible')===true) { 9 | content.hide(); 10 | summary.show(); 11 | $(linkObj).addClass('closed').removeClass('opened'); 12 | $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png'); 13 | } else { 14 | content.show(); 15 | summary.hide(); 16 | $(linkObj).removeClass('closed').addClass('opened'); 17 | $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); 18 | } 19 | return false; 20 | } 21 | 22 | function updateStripes() 23 | { 24 | $('table.directory tr'). 25 | removeClass('even').filter(':visible:even').addClass('even'); 26 | } 27 | 28 | function toggleLevel(level) 29 | { 30 | $('table.directory tr').each(function() { 31 | var l = this.id.split('_').length-1; 32 | var i = $('#img'+this.id.substring(3)); 33 | var a = $('#arr'+this.id.substring(3)); 34 | if (l 2 | 3 | 4 | 5 | 6 | 7 | Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin: Main Page 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 19 | 20 | 21 | 22 | 25 | 26 | 27 | 28 |
29 |
30 | 31 | 32 | 33 | 38 | 39 | 40 |
34 |
Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin 35 |
36 |
Global path planner plugin for ROS Kinetic Kame that uses the RRT algorithm
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Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin Documentation
102 |
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106 | 107 | 114 | 115 | 116 | -------------------------------------------------------------------------------- /docs/html/inherit_graph_0.map: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /docs/html/inherit_graph_0.md5: -------------------------------------------------------------------------------- 1 | 036dedc896a69e8f7abf4ed294ee0293 -------------------------------------------------------------------------------- /docs/html/inherit_graph_0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/docs/html/inherit_graph_0.png -------------------------------------------------------------------------------- /docs/html/inherit_graph_1.map: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /docs/html/inherit_graph_1.md5: -------------------------------------------------------------------------------- 1 | 762b5ac8880975e25bd23cfa445a0d26 -------------------------------------------------------------------------------- /docs/html/inherit_graph_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/docs/html/inherit_graph_1.png -------------------------------------------------------------------------------- /docs/html/namespaces.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin: Namespace List 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 19 | 20 | 21 | 22 | 25 | 26 | 27 | 28 |
29 |
30 | 31 | 32 | 33 | 38 | 39 | 40 |
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Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin 35 |
36 |
Global path planner plugin for ROS Kinetic Kame that uses the RRT algorithm
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Namespace List
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Here is a list of all namespaces with brief descriptions:
110 | 111 | 112 |
 Nturtlebot_rrt
113 |
114 |
115 |
116 | 117 | 124 | 125 | 126 | -------------------------------------------------------------------------------- /docs/html/namespaces.js: -------------------------------------------------------------------------------- 1 | var namespaces = 2 | [ 3 | [ "turtlebot_rrt", "namespaceturtlebot__rrt.html", null ] 4 | ]; -------------------------------------------------------------------------------- /docs/html/namespaceturtlebot__rrt.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin: turtlebot_rrt Namespace Reference 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 19 | 20 | 21 | 22 | 25 | 26 | 27 | 28 |
29 |
30 | 31 | 32 | 33 | 38 | 39 | 40 |
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Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin 35 |
36 |
Global path planner plugin for ROS Kinetic Kame that uses the RRT algorithm
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turtlebot_rrt Namespace Reference
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111 | 112 | 120 | 121 | 122 | -------------------------------------------------------------------------------- /docs/html/namespaceturtlebot__rrt.js: -------------------------------------------------------------------------------- 1 | var namespaceturtlebot__rrt = 2 | [ 3 | [ "RRTPlanner", "classturtlebot__rrt_1_1_r_r_t_planner.html", "classturtlebot__rrt_1_1_r_r_t_planner" ], 4 | [ "Vertex", "classturtlebot__rrt_1_1_vertex.html", "classturtlebot__rrt_1_1_vertex" ] 5 | ]; -------------------------------------------------------------------------------- /docs/html/nav_f.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/docs/html/nav_f.png -------------------------------------------------------------------------------- /docs/html/nav_g.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/docs/html/nav_g.png -------------------------------------------------------------------------------- /docs/html/nav_h.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/docs/html/nav_h.png -------------------------------------------------------------------------------- /docs/html/navtree.css: -------------------------------------------------------------------------------- 1 | #nav-tree .children_ul { 2 | margin:0; 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118 | background-repeat:repeat-x; 119 | background-color: #F9FAFC; 120 | -webkit-overflow-scrolling : touch; /* iOS 5+ */ 121 | } 122 | 123 | #nav-sync { 124 | position:absolute; 125 | top:5px; 126 | right:24px; 127 | z-index:0; 128 | } 129 | 130 | #nav-sync img { 131 | opacity:0.3; 132 | } 133 | 134 | #nav-sync img:hover { 135 | opacity:0.9; 136 | } 137 | 138 | @media print 139 | { 140 | #nav-tree { display: none; } 141 | div.ui-resizable-handle { display: none; position: relative; } 142 | } 143 | 144 | -------------------------------------------------------------------------------- /docs/html/navtreedata.js: -------------------------------------------------------------------------------- 1 | var NAVTREE = 2 | [ 3 | [ "Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin", "index.html", [ 4 | [ "Namespaces", null, [ 5 | [ "Namespace List", "namespaces.html", "namespaces" ] 6 | ] ], 7 | [ "Files", null, [ 8 | [ "File List", "files.html", "files" ] 9 | ] ] 10 | ] ] 11 | ]; 12 | 13 | var NAVTREEINDEX = 14 | [ 15 | "dir_68267d1309a1af8e8297ef4c3efbcdba.html" 16 | ]; 17 | 18 | var SYNCONMSG = 'click to disable panel synchronisation'; 19 | var SYNCOFFMSG = 'click to enable panel synchronisation'; -------------------------------------------------------------------------------- /docs/html/navtreeindex0.js: -------------------------------------------------------------------------------- 1 | var NAVTREEINDEX0 = 2 | { 3 | "dir_68267d1309a1af8e8297ef4c3efbcdba.html":[1,0,0], 4 | "files.html":[1,0], 5 | "index.html":[], 6 | "namespaces.html":[0,0], 7 | "namespaceturtlebot__rrt.html":[0,0,0], 8 | "pages.html":[], 9 | "turtlebot__rrt_8cc.html":[1,0,0,0], 10 | "vertex_8cc.html":[1,0,0,1] 11 | }; 12 | -------------------------------------------------------------------------------- /docs/html/open.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/docs/html/open.png -------------------------------------------------------------------------------- /docs/html/pages.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin: Related Pages 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 19 | 20 | 21 | 22 | 25 | 26 | 27 | 28 |
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34 |
Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin 35 |
36 |
Global path planner plugin for ROS Kinetic Kame that uses the RRT algorithm
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Here is a list of all related documentation pages:
107 | 108 | 109 | 110 | 111 |
 Converting Maps from Gazebo .world Files to YAML Format
 RRT Path Planner Plugin Dependency Installation Instructions
 README
112 |
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115 | 116 | 123 | 124 | 125 | -------------------------------------------------------------------------------- /docs/html/resize.js: -------------------------------------------------------------------------------- 1 | var cookie_namespace = 'doxygen'; 2 | var sidenav,navtree,content,header; 3 | 4 | function readCookie(cookie) 5 | { 6 | var myCookie = cookie_namespace+"_"+cookie+"="; 7 | if (document.cookie) 8 | { 9 | var index = document.cookie.indexOf(myCookie); 10 | if (index != -1) 11 | { 12 | var valStart = index + myCookie.length; 13 | var valEnd = document.cookie.indexOf(";", valStart); 14 | if (valEnd == -1) 15 | { 16 | valEnd = document.cookie.length; 17 | } 18 | var val = document.cookie.substring(valStart, valEnd); 19 | return val; 20 | } 21 | } 22 | return 0; 23 | } 24 | 25 | function writeCookie(cookie, val, expiration) 26 | { 27 | if (val==undefined) return; 28 | if (expiration == null) 29 | { 30 | var date = new Date(); 31 | date.setTime(date.getTime()+(10*365*24*60*60*1000)); // default expiration is one week 32 | expiration = date.toGMTString(); 33 | } 34 | document.cookie = cookie_namespace + "_" + cookie + "=" + val + "; expires=" + expiration+"; path=/"; 35 | } 36 | 37 | function resizeWidth() 38 | { 39 | var windowWidth = $(window).width() + "px"; 40 | var sidenavWidth = $(sidenav).outerWidth(); 41 | content.css({marginLeft:parseInt(sidenavWidth)+"px"}); 42 | writeCookie('width',sidenavWidth, null); 43 | } 44 | 45 | function restoreWidth(navWidth) 46 | { 47 | var windowWidth = $(window).width() + "px"; 48 | content.css({marginLeft:parseInt(navWidth)+6+"px"}); 49 | sidenav.css({width:navWidth + "px"}); 50 | } 51 | 52 | function resizeHeight() 53 | { 54 | var headerHeight = header.outerHeight(); 55 | var footerHeight = footer.outerHeight(); 56 | var windowHeight = $(window).height() - headerHeight - footerHeight; 57 | content.css({height:windowHeight + "px"}); 58 | navtree.css({height:windowHeight + "px"}); 59 | sidenav.css({height:windowHeight + "px"}); 60 | } 61 | 62 | function initResizable() 63 | { 64 | header = $("#top"); 65 | sidenav = $("#side-nav"); 66 | content = $("#doc-content"); 67 | navtree = $("#nav-tree"); 68 | footer = $("#nav-path"); 69 | $(".side-nav-resizable").resizable({resize: function(e, ui) { resizeWidth(); } }); 70 | $(window).resize(function() { resizeHeight(); }); 71 | var width = readCookie('width'); 72 | if (width) { restoreWidth(width); } else { resizeWidth(); } 73 | resizeHeight(); 74 | var url = location.href; 75 | var i=url.indexOf("#"); 76 | if (i>=0) window.location.hash=url.substr(i); 77 | var _preventDefault = function(evt) { evt.preventDefault(); }; 78 | $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault); 79 | $(document).bind('touchmove',function(e){ 80 | var device = navigator.userAgent.toLowerCase(); 81 | var ios = device.match(/(iphone|ipod|ipad)/); 82 | if (ios) { 83 | try { 84 | var target = e.target; 85 | while (target) { 86 | if ($(target).css('-webkit-overflow-scrolling')=='touch') return; 87 | target = target.parentNode; 88 | } 89 | e.preventDefault(); 90 | } catch(err) { 91 | e.preventDefault(); 92 | } 93 | } 94 | }); 95 | } 96 | 97 | 98 | -------------------------------------------------------------------------------- /docs/html/search/all_0.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
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25 | 26 | 27 | -------------------------------------------------------------------------------- /docs/html/search/all_1.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['vertex_2ecc',['vertex.cc',['../vertex_8cc.html',1,'']]] 4 | ]; 5 | -------------------------------------------------------------------------------- /docs/html/search/all_2.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
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25 | 26 | 27 | -------------------------------------------------------------------------------- /docs/html/search/all_3.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['feature_5ftests_2ec',['feature_tests.c',['../feature__tests_8c.html',1,'']]], 4 | ['feature_5ftests_2ecxx',['feature_tests.cxx',['../feature__tests_8cxx.html',1,'']]], 5 | ['features',['features',['../feature__tests_8c.html#a1582568e32f689337602a16bf8a5bff0',1,'features(): feature_tests.c'],['../feature__tests_8cxx.html#a1582568e32f689337602a16bf8a5bff0',1,'features(): feature_tests.cxx']]] 6 | ]; 7 | -------------------------------------------------------------------------------- /docs/html/search/all_4.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
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25 | 26 | 27 | -------------------------------------------------------------------------------- /docs/html/search/all_7.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['main',['main',['../_c_make_c_compiler_id_8c.html#a0ddf1224851353fc92bfbff6f499fa97',1,'main(int argc, char *argv[]): CMakeCCompilerId.c'],['../_c_make_c_x_x_compiler_id_8cpp.html#a0ddf1224851353fc92bfbff6f499fa97',1,'main(int argc, char *argv[]): CMakeCXXCompilerId.cpp'],['../feature__tests_8c.html#a3c04138a5bfe5d72780bb7e82a18e627',1,'main(int argc, char **argv): feature_tests.c'],['../feature__tests_8cxx.html#a3c04138a5bfe5d72780bb7e82a18e627',1,'main(int argc, char **argv): feature_tests.cxx'],['../turtlebotrrt__test_8cc.html#a3c04138a5bfe5d72780bb7e82a18e627',1,'main(int argc, char **argv): turtlebotrrt_test.cc']]], 4 | ['makeplan',['makePlan',['../classturtlebot__rrt_1_1_r_r_t_planner.html#a923e270ae622186b06cfbb44fc1b50b0',1,'turtlebot_rrt::RRTPlanner']]], 5 | ['map_5fconversion_2emd',['MAP_CONVERSION.md',['../_m_a_p___c_o_n_v_e_r_s_i_o_n_8md.html',1,'']]] 6 | ]; 7 | -------------------------------------------------------------------------------- /docs/html/search/all_8.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
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| * @copyright Copyright (C) 2017, Jessica Howard 3 | * @author Jessica Howard 4 | * @file turtlebot_rrt/include/turtlebot_rrt/vertex.h 5 | * 6 | * @brief Small class to maintain information held in vertices 7 | * 8 | * @license 3-Clause BSD License 9 | * Redistribution and use in source and binary forms, with or without 10 | * modification, are permitted provided that the following conditions are met: 11 | * * Redistributions of source code must retain the above copyright notice, 12 | * this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above copyright 14 | * notice, this list of conditions and the following disclaimer in the 15 | * documentation and/or other materials provided with the distribution. 16 | * * Neither the names of Stanford University or Willow Garage, Inc. nor 17 | * the names of its contributors may be used to endorse or promote 18 | * products derived from this software without specific prior written 19 | * permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 22 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 23 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 24 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 25 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 26 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 27 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 28 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 29 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 30 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | * POSSIBILITY OF SUCH DAMAGE. 32 | */ 33 | 34 | #ifndef INCLUDE_TURTLEBOT_RRT_VERTEX_H_ 35 | #define INCLUDE_TURTLEBOT_RRT_VERTEX_H_ 36 | 37 | #include 38 | #include 39 | 40 | namespace turtlebot_rrt { 41 | class Vertex { 42 | private: 43 | /** 44 | * @brief the x coordinate of the vertex 45 | */ 46 | float x_; 47 | 48 | /** 49 | * @brief the y coordinate of the vertex 50 | */ 51 | float y_; 52 | 53 | /** 54 | * @brief the index of the vertex 55 | */ 56 | int index_; 57 | 58 | /** 59 | * @brief the vertex's parent index 60 | */ 61 | int parent_index_; 62 | 63 | public: 64 | /** 65 | * @brief Simple Vertex constructor 66 | */ 67 | Vertex() {} 68 | 69 | /** 70 | * @brief the constructor for a Vertex 71 | * @param x the x coordinate of the vertex 72 | * @param y the y coordinate of the vertex 73 | * @param index the index of the vertex 74 | * @param parent_index the index of the parent vertex 75 | */ 76 | Vertex(float x, float y, int index, int parent_index); 77 | 78 | /** 79 | * @brief destructor 80 | */ 81 | ~Vertex() {} 82 | 83 | /** 84 | * @brief sets the location 85 | * @param x x location of vertex 86 | * @param y y location of vertex 87 | */ 88 | void set_location(float x, float y); 89 | 90 | /** 91 | * @brief sets the index of the vertex 92 | * @param index index of the vertex 93 | */ 94 | void set_index(int index); 95 | 96 | /** 97 | * @brief sets the parent vertex 98 | * @param parent_index index of the parent vertex 99 | */ 100 | void set_parent(int index); 101 | 102 | /** 103 | * @brief returns the x,y location of the vertex 104 | * @return returns std::pair 105 | */ 106 | std::pair get_location(); 107 | 108 | /** 109 | * @brief returns the index of the vertex 110 | * @return index of the vertex 111 | */ 112 | int get_index(); 113 | 114 | /** 115 | * @brief returns the index of the parent vertex 116 | * @return returns the index of the parent 117 | */ 118 | int get_parent(); 119 | 120 | /** 121 | * @brief overload of == operator 122 | */ 123 | bool operator==(const Vertex& v) { 124 | return (x_ == v.x_ && y_ == v.y_ && parent_index_ == v.parent_index_); 125 | } 126 | 127 | /** 128 | * @brief overload of != operator 129 | */ 130 | bool operator!=(const Vertex& v) { 131 | return (x_ != v.x_ || y_ != v.y_ || parent_index_ != v.parent_index_); 132 | } 133 | }; 134 | } // namespace turtlebot_rrt 135 | 136 | #endif // INCLUDE_TURTLEBOT_RRT_VERTEX_H_ 137 | -------------------------------------------------------------------------------- /launch/includes/amcl.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | -------------------------------------------------------------------------------- /launch/includes/move_base.launch.xml: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /launch/rrt_planner.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | -------------------------------------------------------------------------------- /maps/simple_maze.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jeshoward/turtlebot_rrt/061e5eaedc871e3b5a56a3849d5f7b6dc733a834/maps/simple_maze.pgm -------------------------------------------------------------------------------- /maps/simple_maze.yaml: -------------------------------------------------------------------------------- 1 | image: /home/jessica/simple_maze.pgm 2 | resolution: 0.050000 3 | origin: [-10.000000, -10.000000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | turtlebot_rrt 4 | 0.0.0 5 | A global path planner plugin for the Turtlebot that uses an RRT algorithm. 6 | 7 | Jessica Howard 8 | Jessica Howard 9 | BSD 3-clause 10 | https://github.com/jeshoward/turtlebot_rrt 11 | 12 | gtest 13 | 14 | doxygen 15 | 16 | catkin 17 | 18 | roscpp 19 | roslint 20 | tf 21 | nav_core 22 | costmap_2d 23 | base_local_planner 24 | pluginlib 25 | eigen 26 | visualization_msgs 27 | 28 | roscpp 29 | pluginlib 30 | costmap_2d 31 | base_local_planner 32 | nav_core 33 | tf 34 | eigen 35 | visualization_msgs 36 | 37 | rostest 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /results/cppcheck_results.txt: -------------------------------------------------------------------------------- 1 | Checking src/turtlebot_rrt.cc... 2 | 1/2 files checked 50% done 3 | Checking src/vertex.cc... 4 | 2/2 files checked 100% done 5 | -------------------------------------------------------------------------------- /results/cpplint_output.txt: -------------------------------------------------------------------------------- 1 | Done processing ./test/rrtpath_test.cc 2 | Done processing ./test/vertex_test.cc 3 | Done processing ./src/vertex.cc 4 | Done processing ./src/turtlebot_rrt.cc 5 | Done processing ./include/turtlebot_rrt/vertex.h 6 | ./include/turtlebot_rrt/turtlebot_rrt.h:99: Is this a non-const reference? If so, make const or use a pointer: std::vector& plan [runtime/references] [2] 7 | Done processing ./include/turtlebot_rrt/turtlebot_rrt.h 8 | Total errors found: 1 9 | -------------------------------------------------------------------------------- /rrt_planner_plugin.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | This is an RRT global planner plugin. 5 | 6 | 7 | -------------------------------------------------------------------------------- /src/vertex.cc: -------------------------------------------------------------------------------- 1 | /* 2 | * @copyright Copyright (C) 2017, Jessica Howard 3 | * @author Jessica Howard 4 | * @file turtlebot_rrt/src/vertex.cc 5 | * 6 | * @brief Small class to maintain information held in vertices 7 | * 8 | * @license 3-Clause BSD License 9 | * Redistribution and use in source and binary forms, with or without 10 | * modification, are permitted provided that the following conditions are met: 11 | * * Redistributions of source code must retain the above copyright notice, 12 | * this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above copyright 14 | * notice, this list of conditions and the following disclaimer in the 15 | * documentation and/or other materials provided with the distribution. 16 | * * Neither the names of Stanford University or Willow Garage, Inc. nor 17 | * the names of its contributors may be used to endorse or promote 18 | * products derived from this software without specific prior written 19 | * permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 22 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 23 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 24 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 25 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 26 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 27 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 28 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 29 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 30 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | * POSSIBILITY OF SUCH DAMAGE. 32 | */ 33 | 34 | #include "turtlebot_rrt/vertex.h" 35 | 36 | namespace turtlebot_rrt { 37 | Vertex::Vertex(float x, float y, int index, int parent_index) { 38 | x_ = x; 39 | y_ = y; 40 | index_ = index; 41 | parent_index_ = parent_index; 42 | } 43 | 44 | void Vertex::set_location(float x, float y) { 45 | x_ = x; 46 | y_ = y; 47 | } 48 | 49 | void Vertex::set_index(int index) { 50 | index_ = index; 51 | } 52 | 53 | void Vertex::set_parent(int parent_index) { 54 | parent_index_ = parent_index; 55 | } 56 | 57 | std::pair Vertex::get_location() { 58 | return std::pair(x_, y_); 59 | } 60 | 61 | int Vertex::get_index() { 62 | return index_; 63 | } 64 | 65 | int Vertex::get_parent() { 66 | return parent_index_; 67 | } 68 | } // namespace turtlebot_rrt 69 | -------------------------------------------------------------------------------- /test/rrtpath_test.cc: -------------------------------------------------------------------------------- 1 | /* 2 | * @copyright Copyright (C) 2017, Jessica Howard 3 | * @author Jessica Howard 4 | * @file turtlebot_rrt/test/rrtpath_test.cc 5 | * 6 | * @brief Unit tests for the RRT path planning algorithm 7 | * 8 | * @license 3-Clause BSD License 9 | * Redistribution and use in source and binary forms, with or without 10 | * modification, are permitted provided that the following conditions are met: 11 | * * Redistributions of source code must retain the above copyright notice, 12 | * this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above copyright 14 | * notice, this list of conditions and the following disclaimer in the 15 | * documentation and/or other materials provided with the distribution. 16 | * * Neither the names of Stanford University or Willow Garage, Inc. nor 17 | * the names of its contributors may be used to endorse or promote 18 | * products derived from this software without specific prior written 19 | * permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 22 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 23 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 24 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 25 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 26 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 27 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 28 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 29 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 30 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | * POSSIBILITY OF SUCH DAMAGE. 32 | */ 33 | 34 | #include "turtlebot_rrt/turtlebot_rrt.h" 35 | #include 36 | 37 | 38 | 39 | TEST(RRTPlanner, addVertex) { 40 | turtlebot_rrt::RRTPlanner* rrt = new turtlebot_rrt::RRTPlanner(); 41 | turtlebot_rrt::Vertex v(1.0, 2.0, 0, -1); 42 | rrt->addVertex(v); 43 | std::vector tree = rrt->getVertexTree(); 44 | EXPECT_EQ(tree.size(), 1); 45 | } 46 | 47 | int main(int argc, char** argv) { 48 | ros::init(argc, argv, "rrt_test"); 49 | testing::InitGoogleTest(&argc, argv); 50 | 51 | return RUN_ALL_TESTS(); 52 | } 53 | 54 | -------------------------------------------------------------------------------- /test/vertex_test.cc: -------------------------------------------------------------------------------- 1 | /* 2 | * @copyright Copyright (C) 2017, Jessica Howard 3 | * @author Jessica Howard 4 | * @file turtlebot_rrt/test/vertex_test.cc 5 | * 6 | * @brief Unit tests for the Vertex class that is required in the RRTPath 7 | * global path planning plugin 8 | * 9 | * @license 3-Clause BSD License 10 | * Redistribution and use in source and binary forms, with or without 11 | * modification, are permitted provided that the following conditions are met: 12 | * * Redistributions of source code must retain the above copyright notice, 13 | * this list of conditions and the following disclaimer. 14 | * * Redistributions in binary form must reproduce the above copyright 15 | * notice, this list of conditions and the following disclaimer in the 16 | * documentation and/or other materials provided with the distribution. 17 | * * Neither the names of Stanford University or Willow Garage, Inc. nor 18 | * the names of its contributors may be used to endorse or promote 19 | * products derived from this software without specific prior written 20 | * permission. 21 | * 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 23 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 24 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 25 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 26 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 27 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 28 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 29 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 30 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 31 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | */ 34 | 35 | #include 36 | #include "turtlebot_rrt/vertex.h" 37 | 38 | TEST(VertexTest, SingleVertex) { 39 | turtlebot_rrt::Vertex vertex(5.0, 7.5, 3, 2); 40 | 41 | // test get location 42 | EXPECT_FLOAT_EQ(vertex.get_location().first, 5.0); 43 | EXPECT_FLOAT_EQ(vertex.get_location().second, 7.5); 44 | 45 | // test get index 46 | EXPECT_EQ(vertex.get_index(), 3); 47 | 48 | // test get_parent 49 | EXPECT_EQ(vertex.get_parent(), 2); 50 | 51 | // use setter methods and retest 52 | vertex.set_location(3.0, 6.23); 53 | vertex.set_index(12); 54 | vertex.set_parent(1); 55 | 56 | // test get location 57 | EXPECT_FLOAT_EQ(vertex.get_location().first, 3.0); 58 | EXPECT_FLOAT_EQ(vertex.get_location().second, 6.23); 59 | 60 | // test get index 61 | EXPECT_EQ(vertex.get_index(), 12); 62 | 63 | // test get_parent 64 | EXPECT_EQ(vertex.get_parent(), 1); 65 | } 66 | 67 | int main(int argc, char **argv) { 68 | testing::InitGoogleTest(&argc, argv); 69 | 70 | return RUN_ALL_TESTS(); 71 | } 72 | --------------------------------------------------------------------------------