OMPL 2D Rviz Visualizer
Visualizing, animating and debugging Open Motion Planning Library (OMPL) algorithms in ROS Rviz. The package allows OMPL planners to find paths in R^2 state space with path minimizing objectives and utilizes the occupancy grid maps for collision checking. We have also added a rviz panel plugin to interface with OMPL.
Build from source
Clone this package into your src folder of catkin_workspace:
/src git clone https://github.com/mlsdpk/ompl_2d_rviz_visualizer.git
Install necessary dependencies by running the following command in the root of your workspace:
cd .. rosdep install -y --from-paths src --ignore-src --rosdistro
Then compile with catkin:
Rviz Control Panel for interfacing with OMPL
We provide an easy-to-use rviz panel plugin for interfacing with OMPL.
Several occupancy grid maps are specifically chosen for testing OMPL planners, which can be found in most sampling-based planning literatures. In order to select a map, user has to manually provide the name of the map to the
map_name argument in the launch file. Current version of the visualizer provides four different maps:
Run the following launch file to use the visualizer. You can directly pass map names via command line or change it manually in the file.
/devel/setup.bash roslaunch ompl_2d_rviz_visualizer_ros visualizer.launch map_name:=empty_map