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jhu-asco / dsl_gridsearch

ROS node for global path planning using D*-lite on a 2D or 3D grid.
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using D* Lite with current Occupancy Grid Map in Rviz #1

Open ktiwari9 opened 9 years ago

ktiwari9 commented 9 years ago

ogm

Hi there, I am using ROS Hydro and I have generated an Occupancy Grid from Laser scanner using https://github.com/clearpathrobotics/occupancy_grid_utils. Now I want to generate path from pre-defined start to a predefined goal position. So what part of your repo should I use to do only just this ? I publish my Occupancy Grid on the topic /local_grid and I want to generate a safe path in the free space of this occupancy grid. My OGM is shown in the screen cap below. Please help.

ramziizmar commented 6 years ago

hi please did you solve this problem, i want to implement same thing, thank you

ramziizmar commented 6 years ago

hi sir thanks for replying actually my project is visual autonomos navigation of a fly robot using monocular camera, i have been able to generate a pointcloud and convert it into an accupancy grid . and now i want to do path planning on it On Mar 5, 2018 21:14, "Subhransu Mishra" notifications@github.com wrote:

I am not sure, which branch you are using, but you can take a look at the examples in the bin folder. If your use case is car then there is an example for that. What's left is converting the occupancy grid to something that dsl can handle. To start, I would suggest using a for loop to set the dsl grid based on the occupancy grid. Makes sense?

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msheckells commented 6 years ago

This project currently does not subscribe to an occupancy grid topic. It simply loads a mesh (map) from a file, creates an occupancy grid for that map, and generates a collision free path given a start and a goal specified by a subscribed topic.

However, you could easily extend this to subscribe to an occupancy grid, pass the grid in the proper format to the planner, and plan a path.