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srl-freiburg / srl_global_planner

The SRL_GLOBAL_PLANNER package provides an implementation of the sampling based motion planners (RRT, RGG, RRT*, Theta*-RRT) as global planner plugin for Move-base, a ROS framework
BSD 3-Clause "New" or "Revised" License
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Using RRT in Occupancy Grid [ROS Hydro] #1

Closed ktiwari9 closed 9 years ago

ktiwari9 commented 9 years ago

Hi guys, I am using ROS Hydro and I already have generated an Occupancy Grid (attached Screencap) and I used this repo https://github.com/clearpathrobotics/occupancy_grid_utils for visualizing the OGM. I want to take this as an input and run a graph search algorithm to generate a path to go from pre-defined start position to pre-defined goal position but the path must only be in the free space of the occupancy grid. How can i use your code to achieve this ? ogm P.S. I am not using move_base to send my goals.

palmieri commented 9 years ago

Hi,

currently the srl_global_planner is a move_base plug-in. You have to use move_base and specify as global planner the srl_global_planner. To plan on your occupancy map, you should publish it on the /map frame. For other details please see the move_base wiki.

Best,

LP