basic_ros_package

Package for motion planning workouts.

The package contains implementations of Probabilistic Road Map (PRM) and Rapidly exploring Random Tree (RRT) motion planning algorithms on a custom ROS map using rosbuild.

setup

• Install Box2D
• in Build folder, run :

cmake ..

sudo make

sudo make install

• for CUSTOM MAP, merge opt/ folder with yours.

build

• In Box2DHelper folder run:

make clean && make

• In BLG456EAssignment3 folder run :

make clean && make

run

• In BLG456EAssignment3 folder run:

roslaunch BLG456EAssignment3 startup.launch