RRT for Path Planning in ROS

What it does

It takes in an Occupancy Grid map, initial pose and a goal and gives out a path using RRT.

How to run it?

Place it in your catkin workspace src folder and build it using:

catkin_make

OR

catkin build

You can run the launch file given in the launch folder using:

roslaunch rrt_planner rrt_planner.launch

Once it receives the map it will ask you to give the goal and the the initial pose through RViz. Or you can provide it through the topics /initialpose and /move_base_simple/goal respectively.

Tuning

You can tune the algorithm to your needs by using the config.yaml file present in the cfg folder. The visualization can be turned off from there too.