rrt-ros

Implementation of a rapidly expanding random trees algorithm for ROS (Robot Operating System).

Prerequisites

You need to have installed ROS - Robot Operating System in your system.

Running and visualization

Clone the rrt-ros repository in to your preferable workspace. Then compile it using catkin as follows.

git clone https://github.com/Malintha/rrt-ros

cd rrt-ros

catkin_make

Source the setup file of the rrt-ros to make the rrt-planning package visible to ros.

source devel/setup.bash

Run roscore in another terminal.

roscore

Then run rrt node as follows.

rosrun rrt-planning rrt

You will be now promped to run rviz for visualization. Then run Rviz in another terminal.

rosrun rviz rviz

Add a marker listener to the world and enjoy the simulation!