pysbpl

Forked from : https://github.com/poine/pysbpl

Edits Made By: Schmittle & Nikolai Zhivotenko

Python3 bindings and utilities for SBPL ( Search Based Planning Library, see https://github.com/sbpl/sbpl ). Just the bindings for ARASTAR and EnvironmentNAVXYTHETALAT.

Install & Run

1. Install SBPL from source.
2. Clone this repo
   git clone https://github.com/poine/pysbpl.git
3. Build. Feel free to remove user to make install system wide
   • For Development: pip install -e . --user
   • For Use: pip install . --user
4. (optional for MacOS) Add rpath, see
5. Test by running: python3 example/run_sbpl_xytheta.py.

If everything worked a visualization should appear

To create new motion primitives

See pysbpl/gen_mprim.py. Run with:
python3 pysbpl/gen_mprim.py

A test.mprim file should be created

Troubleshooting

1. I properly installed SBPL but pip install is saying it doesnt exist: This is likely a path linking issue. Add the path to libsbpl.so (usually /usr/share/lib) to $LD_LIBRARY_PATH: export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

2. If you encounter the following error (macOS):

   ImportError: dlopen(...): Library not loaded: @rpath/libsbpl.dylib:

   this means that macOS cannot locate the libsbpl.dylib dynamic library required by the Python extension.

   a. Verify that the library is installed:

   ls /usr/local/lib/libsbpl.dylib

   If the file exists, proceed to the next step. Otherwise, install or build SBPL so that the shared library is available.

   b. Update the dynamic library path. Reconfigure the compiled extension to reference the absolute path to the library:

   install_name_tool -change @rpath/libsbpl.dylib /usr/local/lib/libsbpl.dylib pysbpl/sbpl.cpython-311-darwin.so

   After this, rerun the example script.