Global Planner for Quadcopter

This is a C++ based RRT/RRT* implementation in ROS using Octomap. It is mainly used for quadcopter waypoint planning.

Install:

Tested on Ubuntu 18.04, 20.04 with ROS melodic/Noetic. Current version depends on Octomap.

cd ~/catkin_ws/src
git clone https://github.com/Zhefan-Xu/global_planner.git
cd ~/catkin_ws
catkin_make

Run Planner DEMO:

Start the simulator by running:

roslaunch global_planner rrtInteractive.launch

Use 2D Nav Goal in Rviz to select start and goal position in the map.

Parameters:

RRT planner paramters can be changed in global_planner/cfg/planner.yaml. The followings are the default values:

• collision_box: [0.4, 0.4, 0.4]
• env_box: [-100, 100, -100, 100, 0, 1.5]
• timeout: 2.0
• rrt_incremental_distance: 0.3
• rrt_connect_goal_ratio: 0.2
• goal_reach_distance: 0.4
• map_resolution: 0.2
• vis_RRT: False (Not available for RRT*)
• vis_path: True
• neighborhood_radius: 1.0 (RRT* Only)
• max_num_neighbors: 10 (RRT* Only)

Code Exmaple & API:

Please see example global_planner/src/rrtInteractiveNode. The example shows how to set start and goal position, and also how to find path.

Note: the planner needs to call octomap service octomap_binary, make sure to turn on your octomap server.