All_Algo ROS Package

This package provides implementations of various algorithms with proper visualization.

Prerequisites

• ROS (Robot Operating System) installed on your system.
• A map file in .yaml format.

Installation

1. Create a catkin workspace if you don't have one:

   mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/
   catkin_make
   source devel/setup.bash

2. Clone the all_algo package into the src directory of your workspace:

   cd ~/catkin_ws/src
   git clone https://github.com/your-repo/all_algo.git

3. Download the map files and place them in the maps directory of the package:

   mkdir -p ~/catkin_ws/src/all_algo/maps
   cd ~/catkin_ws/src/all_algo/maps
   # Download map.pgm and map.yaml files into this directory

4. Build the package:

   cd ~/catkin_ws/
   catkin_make

Usage

1. Source your workspace:

   source ~/catkin_ws/devel/setup.bash

2. Launch the motion planning nodes:

   roslaunch all_algo motion_planning.launch

Nodes

A* (A Star)

• Node: motion_planning_a_star
• Source: src/a_star.cpp

RRT (Rapidly-exploring Random Tree)

• Node: motion_planning_rrt
• Source: src/rrt.cpp

RRT* (RRT Star)

• Node: motion_planning_rrt_star
• Source: src/rrt_star.cpp

PRM (Probabilistic Roadmap)

• Node: motion_planning_prm
• Source: src/prm.cpp

Each algorithm node will subscribe to the map topic and perform the respective motion planning algorithm to find a path from the start to the goal while avoiding obstacles.

Visualization

The paths generated by the motion planning algorithms will be visualized in RViz. Make sure to add the necessary displays in RViz to visualize the /planned_path topic.

Contact

For any issues or inquiries, please contact [kmbhatt@wpi.edu].