A path planning algorithm based on RRT implemented using ROS.

distro - indigo

The algorithm find an optimized path for a one obstacle environment. The visualtization is done in RVIZ and the code is written in C++.

The package has two executables:

1. ros_node
   
2. env_node
   
   

RVIZ parameters:

1. Frame_id = "/path_planner"
   
2. marker_topic = "path_planner_rrt"
   

Instructions:

1. Open terminal and type
   $roscore
   
2. Open new terminal and go to the the root of your catkin workspace
   $catkin_make
   $source ./devel/setup.bash
   $rosrun path_planner env_node
   
3. open new terminal
   $rosrun rviz rviz
   
4. In the RVIZ window, change:
   fixed frame under global option to "/path_planner"
   add a marker and change marker topic to "path_planner_rrt"
   
5. Open new terminal
   $rosrun path_planner rrt_node
   

The environment and the path will be visualized in RVIZ.