README
mrpt_tps_astar_planner
Overview
This package provides a ROS 2 node that uses the PTG-based A* planner in mrpt_path_planning to publish waypoint sequences moving a non-holonomic robot from A to B, taking into account its real shape, orientation, and kinematic constraints.
How to cite
Configuration
Write me!
Demos
Write me!
Node: mrpt_tps_astar_planner_node
Working rationale
Uses A* over a SE(2) lattice and PTGs to sample collision-free paths. The implementation is an anytime algorithm.
ROS 2 parameters
topic_goal_sub: The name of the topic to subscribe for goal poses (geometry_msgs/PoseStamped).show_gui: Shows its own MRPT GUI with the planned paths.topic_gridmap_sub: One or more (comma separated) topic names to subscribe for occupancy grid maps.topic_obstacle_points_sub: One or more (comma separated) topic names to subscribe for obstacle points.
Subscribed topics
xxx
Published topics
`` (
mrpt_msgs::msg::WaypointSequence)
Services
Write me!
Template ROS 2 launch files
This package provides launch/tps_astar_planner.launch.py:
ros2 launch tps_astar_planner tps_astar_planner.launch.py
which can be used in user projects to launch the planner, by setting these launch arguments:
XXX: XXX