First create your workspace and enter it:
mkdir rrt_ws/src
cd ~/rrt_ws/src
then clone it:
git clone https://github.com/wrld/ROS_RRT.git
then make it:
cd ~/rrt_ws
catkin_make
source devel/setup.bash
then launch it:
roslaunch nav_sim myrobot_world.launch
roslaunch nav_sim move_base.launch
pick the goal point, and then you will see the simulation.
vim nav_sim2/cfg/new.yaml
Change the value of choice to change the method:
- 0---rrt based on probability
- 1---rrt connect
- 2---rrt*
Change the value of gravity to set if using gravity of the goal point:
- 0---no
- 1---yes
Change the value of smooth to set if smooth the road:
- 0---no
- 1---yes
and more parameters to change the steps or probability.