ROS path planner

Tools:

• OMPL
• costmap_2D
• dynamic_reconfigure

Usage

1. Run: roslaunch /{your catkin workspace dir}/src/path_planner/run.launch
2. Add screen by topic /map (Rviz)
3. Add screen by topic /solver_path (Rviz)
4. Point start with 2D Pose Estimate interface (Rviz)
5. Point goal with 2D Nav Goal interface (Rviz)

To choose appropriate planner select it from options list in opened rqt_reconfigure window.