This ROS package generates feasible paths for non-holonomic vehicles.
mkdir -p workspace/src && cd workspace/src
git clone git@github.com:LiJiangnanBit/path_optimizer.git
sudo bash path_optimizer/scripts/install_deps.sh
cd ..
catkin build path_optimizer
source devel/setup.bash
install_deps.sh will install other dependencies (Those already installed will be skipped). These dependencies include:
A png image is loaded as the grid map. You can click to specify the global reference path and the start/goal state of the vehicle.
roslaunch path_optimizer demo.launch
gridmap.png
with other black and white images. Note that the resolution in demo.cpp
is set to 0.2m, whick means that the length of one pixel is 0.2m on the map.
This is a computation time test.
rosrun path_optimizer path_optimizer_benchmark
Refer to demo.cpp
The parameters that you can change can be found in planning_flags.cpp
.