ROS-RRT

Implement RRT (rapidly exploring random tree) in ROS

Preparation

1. Install Ubuntu and ROS (This project is tested on Ubuntu14.04 and ROS indigo)
2. Create your workspace folder

nav_sim

This is the test environment for visualization

Clone it to your workspace/src folder

Thanks to YinHuan@ZJU and his repo

RRT

1. Download navigation source code to your repo

   NOTE: The branch of navigation should match your ROS version

2. Replace the global_planner using this repo’s file

3. If errors come out while catkin_make, you’d better read my code and modify it yourself, I mainly add rrt and modified traceback & planner_core

Detailed experiments and documentary can be viewed in doc/detailed-doc.md