A global planner for ROS based on Jump Point Search algorithm.
-
This plugin makes use of
jps3dlibrary -
Author: Emiliano Borghi
/catkin_ws/src $ git clone https://github.com/KumarRobotics/jps3d.git
cd /catkin_ws && catkin_make_isolated --install --install-space /opt/ros/$ROS_DISTRO -DCMAKE_BUILD_TYPE=ReleaseTo buid this ROS package, just compile it normally with catkin_make.
Create a planner parameter file for move_base with this information:
base_global_planner: "jps/JumpPointSearchROS"
JumpPointSearchROS:
debug: true-
Build
move_basefrom source -
Install gdb:
sudo apt-get install -y gdb- Compile the workspace with debug symbols:
catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo-
Execute
move_basewith this plugin and follow these steps to use GDB. -
Add a breakpoint (Shift + Insert to paste the following code):
break /catkin_ws/src/jps_global_planner/src/jps_ros.cpp:180rosrun jps_global_planner test_jps_global_planner `rospack find jps_global_planner`/test/data/corridor.yaml
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