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ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.
GNU General Public License v3.0
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change the algorithm #56

Closed 1littlestudy closed 8 months ago

1littlestudy commented 8 months ago

Hello, I am a beginner and I would like to ask how to change the algorithm for small cars from A * to rrt algorithm,Thank you in advance for your answer

ai-winter commented 8 months ago

Hello, @1littlestudy README.md gives an example in detail, you can also refer to this configure.

map: "warehouse"
world: "warehouse"
robots_config:
  - robot1_type: "turtlebot3_burger"
    robot1_global_planner: "astar"
    robot1_local_planner: "dwa"
    robot1_x_pos: "0.0"
    robot1_y_pos: "0.0"
    robot1_z_pos: "0.0"
    robot1_yaw: "-1.57"
  - robot2_type: "turtlebot3_burger"
    robot2_global_planner: "jps"
    robot2_local_planner: "pid"
    robot2_x_pos: "-5.0"
    robot2_y_pos: "-7.5"
    robot2_z_pos: "0.0"
    robot2_yaw: "0.0"
robots_init: "robots_rviz_init.yaml"
rviz_file: "sim_env.rviz"

For example, you can change the option robot1_global_planner from astar to rrt to meet your needs

1littlestudy commented 8 months ago

@ai-winter Thank you very much for your help，I want to ask if it is necessary for me to try changing all the global plans in the image? Can I only modify a few files? such as the start and user without move_base and environment.I would like to ask which files need to be modified to change the planning algorithm? 图片

ai-winter commented 8 months ago

@1littlestudy

You just need to modify the relevant configurations in the user_config.yaml file.

1littlestudy commented 8 months ago

@ai-winter Your code is very beneficial to me. Wishing you success in your future work.