ompl_global_planner

Global path planner plugin based on OMPL for move_base package

About

This package provides global path planner plugin based on OMPL for move_base package. The move_base package supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package. OMPL, the Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms.

Attention: This package can be used as global planner in gazebo_navigation repository. Tip: Writing A Global Path Planner As Plugin in ROS

Usage

1. Make your own workspace and build

   To use this planner, check it out in your local catkin workspace:

   $ cd ~/catkin_ws/src
   $ git clone https://github.com/kangbeenlee/ompl_move_base.git
   $ cd ..
   $ catkin_make
   

2. Place plugin as shared object

   Now the planner should be placed as shared object in the devel/lib folder. List the plugin with the command:

   $ rospack plugins --attrib=plugin nav_core
   

3. Use the plugin

   After 2nd step, you can use this plugin together with the move_base node. Then, use the plugin in your move_base_parameters.yaml file:

   base_global_planner: ompl_global_planner/OmplGlobalPlanner