A global planner powered by OMPL. This was made with the navigation stack of ROS in mind, but being completely independent of them both. ROS1 and ROS2 global planner plugins are planned (pun intended).
| Requirement | Domain | Version Tested |
|---|---|---|
| OMPL | Runtime | 1.4.2 |
| Google Test | Testing | 1.10.x |
Use CMake to build omplgp.
cmake .. # use -DBUILD_TESTS as applicable
make
make install # or make package to create a debian to install#include <omplgp/omplgp.hpp>
int main() {
// Let's create a simple costmap
omplgp::CostMap2D my_cmap{
{0.2, 0.1, 0.3, 0.4, 0.3},
{0.4, 0.1, 0.5, 0.3, 0.8},
{0.6, 0.3, 0.7, 0.3, 0.1},
{0.4, 0.2, 0.1, 0.9, 0.4},
{0.3, 0.8, 0.2, 0.8, 0.2},
};
// Set anything >= 0.5 to be recognized as an obstacle
double my_ocost(0.5);
// Let's use a simple RRT planner
omplgp::Algorithm my_algo(omplgp::Algorithm::RRT);
// Set the maximum time to use for planning to 2 seconds
double my_tout(2.0);
// Set the two extremes of the costmap to be the start and goal points
omplgp::Point2D my_start(0.5, 0.5);
omplgp::Point2D my_goal(4.5, 4.5);
// Create the planner
omplgp::OMPL2DPlanner my_rrt(my_algo, my_cmap, my_ocost, my_tout);
// Find a plan!
omplgp::Plan2D my_plan;
bool success = my_rrt.plan(my_start, my_goal, my_plan);
if (success) {
std::cout << "Succeded in finding a plan! :)" << std::endl;
std::cout << "Here is the plan!" << std::endl;
for (const auto &i : my_plan) {
std::cout << "x: " << i.x << std::endl;
std::cout << "y: " << i.y << std::endl << std::endl;
}
} else {
std::cout << "Failed in finding a plan! :(" << std::endl;
}
}Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.
Please make sure to update tests as appropriate.