Motion Planning Library with ROS

Self-directed independent study.

Installation Guide:

• Make a ROS Workspace: mkdir -p ws/src
• Go to src and clone my repo: cd ws/src/ git clone [email protected]:moribots/motion_planning.git
• Go back to the workspace root: cd ..
• Initialize nuturtle.rosinstall to get my rigid2d library and other utilities: wstool init src src/motion_planning/nuturtle.rosinstall
• Build the workspace: catkin_make and source: source devel/setup.bash

OSQP and OSQP-Eigen installation

OSQP OSQP-Eigen (C++ wrapper) - Do the manual install.

Notes for OSQP-Eigen:

• Choose /usr/local in cmake -DCMAKE_INSTALL_PREFIX:PATH=<custom-folder> ../
• Do sudo ln -s /usr/include/eigen3/Eigen /usr/local/include/Eigen to make a symbolic link for the Eigen header files so that OSQP-Eigen knows where to find them.

In this Repo:

• The map package: roslaunch map viz_map.launch

  • Probabilistic Roadmap:
  
  • Tunable-resolution Grid Map
  

• The global_planner package:

  • A* (green) on PRM:
  
  • Theta* (green) on PRM (A* in red for comparison): roslaunch global_planner astar.launch
  
  • A* (green) on Grid
  
  • LPA* with Simulated Grid Updates [re-evaluated cells in orange]: roslaunch global_planner incremental.launch lpa:=True
  
  • D* Lite on Grid [re-evaluated cells in orange]: roslaunch global_planner incremental.launch
  
  • Naive Potential Field (Local Minimum Escape TBD): roslaunch global_planner potential_field.launch
  

• Trajectory Optimization:

  • Model Predictive Path Integral Control on a parallel parking task: roslaunch control mppi_pentagon.launch parallel:=True
  
  • The associated states and controls for the above demo:
  

  NOTE: To launch waypoint following method, simply don't include the parallel argument.

  In a separate terminal, do:

  rosservice call /set_pose "x: 0.0 y: 0.0 theta: 0.0"

  To start the node.