Using Informed RRT* algorithm to find optimal path from start node to end node for a predefined map. Simulating turtlebot-3 to reach the end node following the generated path using ROS, RViz and Gazebo.
git clone https://github.com/Rishabh96M/PathPlaning.git
copy the assignment.launch file in the <catkin_ws>/src/turtlebot3_simulations/turtlebot3_gazebo/launch folder
copy the map.world file in the <catkin_ws>/src/turtlebot3_simulations/turtlebot3_gazebo/world folder
build the catkin-ws
cd <catkin_ws>
catkin_make
In a terminal run the turtlebot3 in the world
roslaunch turtlebot3_gazebo assignment.launch
In a new terminal run the Informed RRT star algorithm
cd PathPlaning
python3 informed_rrt_star.py
To see the simulation, close the matplotlib screen after the plotting is complete.
You will be notified on the terminal after the simulation is completed.
Videos folder contains two test videos of the working project
test1.mp4 - start point = 60,10 - end point = 80,80
test2.mp4 - start point = 30,50 - end point = 90,90