Currently, the RRT path planner will plan a path to a goal waypoint when a goal is received. As the USV navigates to the waypoint, new obstacles previously undetected may appear. We want the path planner to re-plan when new obstacles are detected that intersect the current path. The node which runs the planner is waypoints_node.py. The planners (so far only RRT and StraightPath) are found in the planners directory in virtuoso_perception.
You may find the rviz_waypoint.py node useful. When run, you can give the USV a goal waypoint through RVIZ.
Currently, the RRT path planner will plan a path to a goal waypoint when a goal is received. As the USV navigates to the waypoint, new obstacles previously undetected may appear. We want the path planner to re-plan when new obstacles are detected that intersect the current path. The node which runs the planner is
waypoints_node.py. The planners (so far only RRT and StraightPath) are found in theplannersdirectory invirtuoso_perception.You may find the
rviz_waypoint.pynode useful. When run, you can give the USV a goal waypoint through RVIZ.