burgerRRT

This package is intended to provide enhanced version of path-planning algorithms. It provides an implementation of ROS local and global planners plugin, allowing to develop refined path-planning algorithms while deeply understanding and controlling the computing process.

The package also comes with a set of visualization tools and technique, demonstrated with working examples, to help develop a new path-planner.

This is part of the P3A research project of Amaury Camus & Grégoire Roussel, under the supervision of Adina M. Panchea

Burger Local Planner

author: Amaury Camus

This package implement the NavCore::BaseLocalPLanner interface.

Burger Global planner

author: Grégoire Roussel & Amaury Camus

This pacakge implements the NavCore::BaseGlobalPlannerinterface. For the moment, it provides a adaptable RRTS engine, and numerous clients programs tailored for different needs :

• a standalone program
• a ROS plugin
• a standalone ROS node using the plugin.

Prerequisites

The planners need a complete PC setup as described in the Turtlebot3 installation manual. You must therefore check that the following package stacks are installed and built:

• turtlebot3
• turtlebot3_msgs
• turtlebot3_simulations

Documentation

Both packages have a README.md.

Additionnaly, both packages have doxygen configured : run

doxygen doxy.conf

or simply

make doc

to generate a pretty html code API.

How-to

http://docs.ros.org/api/catkin/html/howto/format2/building_libraries.html