Port to ROS2 - Githubissues

karlkurzer / path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle

http://karlkurzer.github.io/path_planner/

BSD 3-Clause "New" or "Revised" License

1.56k stars 538 forks source link

Port to ROS2 #46

Closed guilyx closed 2 years ago

guilyx commented 2 years ago

Hi,

Is there any plan to port the project to ROS2 ? If not, I might try to sync it with either Foxy, Galactic or Rolling.

Let me know :)

karlkurzer commented 2 years ago

Hey,

currently I am too involved with my PhD project, so that I doubt that I would be porting it to ROS2 anytime soon, however it would be great to have at least a ROS2 branch for people that have that requirement.

Personally I would go for Galactic Geochelone :-)

Best Karl

SteveMacenski commented 2 years ago

ROS 2 Navigation (Nav2) already has its own Hybrid-A planner implementation internally now https://github.com/ros-planning/navigation2/tree/main/nav2_smac_planner. You can find configuration docs here https://navigation.ros.org/configuration/packages/configuring-smac-planner.html. That package also includes a State Lattice planner and a 2D-A planner.

If that's of interest :smile:

Steve

karlkurzer commented 2 years ago

@SteveMacenski true - I've forgotten about that since I am not working on this anymore. I guess for anyone wanting to use ROS2 that stack makes more sense.