Path Planning

Overview

This package contains an implementation of path planning within an OctoMap. It uses the OMPL Library to create safe obstacle-free and smooth trajectories that reach a specific goal.

Usage

Run the main node with

roslaunch path_planning path_planning.launch

Launch files

• path_planning.launch: Run the main node

Nodes

path_planning

Create obstacle-free paths in an OctoMap that are suitable for the drone.

Subscribed Topics

• /octomap_binary [octomap_msgs/Octomap]

  The map that is used for path planning.

• /amcl_pose [geometry_msgs/PoseStamped]

  The real-time position estimation of the drone.

• /next_goal [geometry_msgs/TransformStamped]

  The next goal that the drone must reach and a path towards it must be created.

Published Topics

• /waypoints [trajectory_msgs/MultiDOFJointTrajectory]

  The set of points that the drone must navigate through in order to achieve a smooth and obstacle-free navigation.

• /waypoints_smooth [trajectory_msgs/MultiDOFJointTrajectory]

  A smoother version of the trajectory, after smoothing it using B-spline functions.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.