源码地址：https://github.com/nalin1096/path_planning

路径规划

ROS(indigo)RRT路径规划

使用ROS实现了基于RRT路径规划算法。

发行版 - indigo

算法在有一个障碍的环境找到优化的路径。算法可视化在RVIZ完成，代码是用C ++编写。

包有两个可执行文件：

1 ros_node
2 env_node

ROS(indigo)RRT路径规划

RVIZ参数：

1 Frame_id =“path_planner”
2 marker_topic =“path_planner_rrt”

说明：

ROS(indigo)RRT路径规划

打开终端，输入

$ roscore

打开新的终端并转到catkin工作区：

$ catkin_make

$ source ./devel/setup.bash

$ rosrun path_planning env_node

打开新的终端

$ rosrun rviz rviz

在RVIZ窗口，更改：

在全局选项固定框架“path_planner”

添加标记和标记改变主题，以“path_planner_rrt”

打开新的终端

$ rosrun path_planning rrt_node

ROS(indigo)RRT路径规划

如果想修改环境environment，如下：

#include <ros/ros.h>

#include <visualization_msgs/Marker.h>

#include <path_planning/rrt.h>

#include <path_planning/obstacles.h>

#include <geometry_msgs/Point.h>

#include <iostream>

#include <cmath>

#include <math.h>

#include <stdlib.h>

#include <unistd.h>

#include <vector>

using namespace rrt;

void initializeMarkers(visualization_msgs::Marker &boundary,

    visualization_msgs::Marker &obstacle)

{

    //init headers

	boundary.header.frame_id    = obstacle.header.frame_id    = "path_planner";

	boundary.header.stamp       = obstacle.header.stamp       = ros::Time::now();

	boundary.ns                 = obstacle.ns                 = "path_planner";

	boundary.action             = obstacle.action             = visualization_msgs::Marker::ADD;

	boundary.pose.orientation.w = obstacle.pose.orientation.w = 1.0;

    //setting id for each marker

    boundary.id    = 110;

	obstacle.id   = 111;

	//defining types

	boundary.type  = visualization_msgs::Marker::LINE_STRIP;

	obstacle.type = visualization_msgs::Marker::LINE_LIST;

	//setting scale

	boundary.scale.x = 1;

	obstacle.scale.x = 0.2;

    //assigning colors

	boundary.color.r = obstacle.color.r = 0.0f;

	boundary.color.g = obstacle.color.g = 0.0f;

	boundary.color.b = obstacle.color.b = 0.0f;

	boundary.color.a = obstacle.color.a = 1.0f;

}

vector<geometry_msgs::Point> initializeBoundary()

{

    vector<geometry_msgs::Point> bondArray;

    geometry_msgs::Point point;

    //first point

    point.x = 0;

    point.y = 0;

    point.z = 0;

    bondArray.push_back(point);

    //second point

    point.x = 0;

    point.y = 100;

    point.z = 0;

    bondArray.push_back(point);

    //third point

    point.x = 100;

    point.y = 100;

    point.z = 0;

    bondArray.push_back(point);

    //fourth point

    point.x = 100;

    point.y = 0;

    point.z = 0;

    bondArray.push_back(point);

    //first point again to complete the box

    point.x = 0;

    point.y = 0;

    point.z = 0;

    bondArray.push_back(point);

    return bondArray;

}

vector<geometry_msgs::Point> initializeObstacles()

{

    vector< vector<geometry_msgs::Point> > obstArray;

    vector<geometry_msgs::Point> obstaclesMarker;

    obstacles obst;

    obstArray = obst.getObstacleArray();

    for(int i=0; i<obstArray.size(); i++)

    {

        for(int j=1; j<5; j++)

        {

            obstaclesMarker.push_back(obstArray[i][j-1]);

            obstaclesMarker.push_back(obstArray[i][j]);

        }

    }

    return obstaclesMarker;

}

int main(int argc,char** argv)

{

    //initializing ROS

    ros::init(argc,argv,"env_node");

	ros::NodeHandle n;

	//defining Publisher

	ros::Publisher env_publisher = n.advertise<visualization_msgs::Marker>("path_planner_rrt",1);

	//defining markers

    visualization_msgs::Marker boundary;

    visualization_msgs::Marker obstacle;

    initializeMarkers(boundary, obstacle);

    //initializing rrtTree

    RRT myRRT(2.0,2.0);

    int goalX, goalY;

    goalX = goalY = 95;

    boundary.points = initializeBoundary();

    obstacle.points = initializeObstacles();

    env_publisher.publish(boundary);

    env_publisher.publish(obstacle);

    while(ros::ok())

    {

        env_publisher.publish(boundary);

        env_publisher.publish(obstacle);

        ros::spinOnce();

        ros::Duration(1).sleep();

    }

	return 1;

}

障碍物obstacles，可修改调整障碍物个数等：

#include <path_planning/obstacles.h>

#include <geometry_msgs/Point.h>

vector< vector<geometry_msgs::Point> > obstacles::getObstacleArray()

{

    vector<geometry_msgs::Point> obstaclePoint;

    geometry_msgs::Point point;

    //first point

    point.x = 50;

    point.y = 50;

    point.z = 0;

    obstaclePoint.push_back(point);

    //second point

    point.x = 50;

    point.y = 70;

    point.z = 0;

    obstaclePoint.push_back(point);

    //third point

    point.x = 80;

    point.y = 70;

    point.z = 0;

    obstaclePoint.push_back(point);

    //fourth point

    point.x = 80;

    point.y = 50;

    point.z = 0;

    obstaclePoint.push_back(point);

    //first point again to complete the box

    point.x = 50;

    point.y = 50;

    point.z = 0;

    obstaclePoint.push_back(point);

    obstacleArray.push_back(obstaclePoint);

    return obstacleArray;

}

RRT：

#include <path_planning/rrt.h>

#include <math.h>

#include <cstddef>

#include <iostream>

using namespace rrt;

/**

* default constructor for RRT class

* initializes source to 0,0

* adds sorce to rrtTree

*/

RRT::RRT()

{

    RRT::rrtNode newNode;

    newNode.posX = 0;

    newNode.posY = 0;

    newNode.parentID = 0;

    newNode.nodeID = 0;

    rrtTree.push_back(newNode);

}

/**

* default constructor for RRT class

* initializes source to input X,Y

* adds sorce to rrtTree

*/

RRT::RRT(double input_PosX, double input_PosY)

{

    RRT::rrtNode newNode;

    newNode.posX = input_PosX;

    newNode.posY = input_PosY;

    newNode.parentID = 0;

    newNode.nodeID = 0;

    rrtTree.push_back(newNode);

}

/**

* Returns the current RRT tree

* @return RRT Tree

*/

vector<RRT::rrtNode> RRT::getTree()

{

    return rrtTree;

}

/**

* For setting the rrtTree to the inputTree

* @param rrtTree

*/

void RRT::setTree(vector<RRT::rrtNode> input_rrtTree)

{

    rrtTree = input_rrtTree;

}

/**

* to get the number of nodes in the rrt Tree

* @return tree size

*/

int RRT::getTreeSize()

{

    return rrtTree.size();

}

/**

* adding a new node to the rrt Tree

*/

void RRT::addNewNode(RRT::rrtNode node)

{

    rrtTree.push_back(node);

}

/**

* removing a node from the RRT Tree

* @return the removed tree

*/

RRT::rrtNode RRT::removeNode(int id)

{

    RRT::rrtNode tempNode = rrtTree[id];

    rrtTree.erase(rrtTree.begin()+id);

    return tempNode;

}

/**

* getting a specific node

* @param node id for the required node

* @return node in the rrtNode structure

*/

RRT::rrtNode RRT::getNode(int id)

{

    return rrtTree[id];

}

/**

* return a node from the rrt tree nearest to the given point

* @param X position in X cordinate

* @param Y position in Y cordinate

* @return nodeID of the nearest Node

*/

int RRT::getNearestNodeID(double X, double Y)

{

    int i, returnID;

    double distance = 9999, tempDistance;

    for(i=0; i<this->getTreeSize(); i++)

    {

        tempDistance = getEuclideanDistance(X,Y, getPosX(i),getPosY(i));

        if (tempDistance < distance)

        {

            distance = tempDistance;

            returnID = i;

        }

    }

    return returnID;

}

/**

* returns X coordinate of the given node

*/

double RRT::getPosX(int nodeID)

{

    return rrtTree[nodeID].posX;

}

/**

* returns Y coordinate of the given node

*/

double RRT::getPosY(int nodeID)

{

    return rrtTree[nodeID].posY;

}

/**

* set X coordinate of the given node

*/

void RRT::setPosX(int nodeID, double input_PosX)

{

    rrtTree[nodeID].posX = input_PosX;

}

/**

* set Y coordinate of the given node

*/

void RRT::setPosY(int nodeID, double input_PosY)

{

    rrtTree[nodeID].posY = input_PosY;

}

/**

* returns parentID of the given node

*/

RRT::rrtNode RRT::getParent(int id)

{

    return rrtTree[rrtTree[id].parentID];

}

/**

* set parentID of the given node

*/

void RRT::setParentID(int nodeID, int parentID)

{

    rrtTree[nodeID].parentID = parentID;

}

/**

* add a new childID to the children list of the given node

*/

void RRT::addChildID(int nodeID, int childID)

{

    rrtTree[nodeID].children.push_back(childID);

}

/**

* returns the children list of the given node

*/

vector<int> RRT::getChildren(int id)

{

    return rrtTree[id].children;

}

/**

* returns number of children of a given node

*/

int RRT::getChildrenSize(int nodeID)

{

    return rrtTree[nodeID].children.size();

}

/**

* returns euclidean distance between two set of X,Y coordinates

*/

double RRT::getEuclideanDistance(double sourceX, double sourceY, double destinationX, double destinationY)

{

    return sqrt(pow(destinationX - sourceX,2) + pow(destinationY - sourceY,2));

}

/**

* returns path from root to end node

* @param endNodeID of the end node

* @return path containing ID of member nodes in the vector form

*/

vector<int> RRT::getRootToEndPath(int endNodeID)

{

    vector<int> path;

    path.push_back(endNodeID);

    while(rrtTree[path.front()].nodeID != 0)

    {

        //std::cout<<rrtTree[path.front()].nodeID<<endl;

        path.insert(path.begin(),rrtTree[path.front()].parentID);

    }

    return path;

}

RRT节点：

#include <ros/ros.h>

#include <visualization_msgs/Marker.h>

#include <geometry_msgs/Point.h>

#include <path_planning/rrt.h>

#include <path_planning/obstacles.h>

#include <iostream>

#include <cmath>

#include <math.h>

#include <stdlib.h>

#include <unistd.h>

#include <vector>

#include <time.h>

#define success false

#define running true

using namespace rrt;

bool status = running;

void initializeMarkers(visualization_msgs::Marker &sourcePoint,

    visualization_msgs::Marker &goalPoint,

    visualization_msgs::Marker &randomPoint,

    visualization_msgs::Marker &rrtTreeMarker,

    visualization_msgs::Marker &finalPath)

{

    //init headers

	sourcePoint.header.frame_id    = goalPoint.header.frame_id    = randomPoint.header.frame_id    = rrtTreeMarker.header.frame_id    = finalPath.header.frame_id    = "path_planner";

	sourcePoint.header.stamp       = goalPoint.header.stamp       = randomPoint.header.stamp       = rrtTreeMarker.header.stamp       = finalPath.header.stamp       = ros::Time::now();

	sourcePoint.ns                 = goalPoint.ns                 = randomPoint.ns                 = rrtTreeMarker.ns                 = finalPath.ns                 = "path_planner";

	sourcePoint.action             = goalPoint.action             = randomPoint.action             = rrtTreeMarker.action             = finalPath.action             = visualization_msgs::Marker::ADD;

	sourcePoint.pose.orientation.w = goalPoint.pose.orientation.w = randomPoint.pose.orientation.w = rrtTreeMarker.pose.orientation.w = finalPath.pose.orientation.w = 1.0;

    //setting id for each marker

    sourcePoint.id    = 0;

	goalPoint.id      = 1;

	randomPoint.id    = 2;

	rrtTreeMarker.id  = 3;

    finalPath.id      = 4;

	//defining types

	rrtTreeMarker.type                                    = visualization_msgs::Marker::LINE_LIST;

	finalPath.type                                        = visualization_msgs::Marker::LINE_STRIP;

	sourcePoint.type  = goalPoint.type = randomPoint.type = visualization_msgs::Marker::SPHERE;

	//setting scale

	rrtTreeMarker.scale.x = 0.2;

	finalPath.scale.x     = 1;

	sourcePoint.scale.x   = goalPoint.scale.x = randomPoint.scale.x = 2;

    sourcePoint.scale.y   = goalPoint.scale.y = randomPoint.scale.y = 2;

    sourcePoint.scale.z   = goalPoint.scale.z = randomPoint.scale.z = 1;

    //assigning colors

	sourcePoint.color.r   = 1.0f;

	goalPoint.color.g     = 1.0f;

    randomPoint.color.b   = 1.0f;

	rrtTreeMarker.color.r = 0.8f;

	rrtTreeMarker.color.g = 0.4f;

	finalPath.color.r = 0.2f;

	finalPath.color.g = 0.2f;

	finalPath.color.b = 1.0f;

	sourcePoint.color.a = goalPoint.color.a = randomPoint.color.a = rrtTreeMarker.color.a = finalPath.color.a = 1.0f;

}

vector< vector<geometry_msgs::Point> > getObstacles()

{

    obstacles obst;

    return obst.getObstacleArray();

}

void addBranchtoRRTTree(visualization_msgs::Marker &rrtTreeMarker, RRT::rrtNode &tempNode, RRT &myRRT)

{

geometry_msgs::Point point;

point.x = tempNode.posX;

point.y = tempNode.posY;

point.z = 0;

rrtTreeMarker.points.push_back(point);

RRT::rrtNode parentNode = myRRT.getParent(tempNode.nodeID);

point.x = parentNode.posX;

point.y = parentNode.posY;

point.z = 0;

rrtTreeMarker.points.push_back(point);

}

bool checkIfInsideBoundary(RRT::rrtNode &tempNode)

{

    if(tempNode.posX < 0 || tempNode.posY < 0  || tempNode.posX > 100 || tempNode.posY > 100 ) return false;

    else return true;

}

bool checkIfOutsideObstacles(vector< vector<geometry_msgs::Point> > &obstArray, RRT::rrtNode &tempNode)

{

    double AB, AD, AMAB, AMAD;

    for(int i=0; i<obstArray.size(); i++)

    {

        AB = (pow(obstArray[i][0].x - obstArray[i][1].x,2) + pow(obstArray[i][0].y - obstArray[i][1].y,2));

        AD = (pow(obstArray[i][0].x - obstArray[i][3].x,2) + pow(obstArray[i][0].y - obstArray[i][3].y,2));

        AMAB = (((tempNode.posX - obstArray[i][0].x) * (obstArray[i][1].x - obstArray[i][0].x)) + (( tempNode.posY - obstArray[i][0].y) * (obstArray[i][1].y - obstArray[i][0].y)));

        AMAD = (((tempNode.posX - obstArray[i][0].x) * (obstArray[i][3].x - obstArray[i][0].x)) + (( tempNode.posY - obstArray[i][0].y) * (obstArray[i][3].y - obstArray[i][0].y)));

         //(0<AM⋅AB<AB⋅AB)∧(0<AM⋅AD<AD⋅AD)

        if((0 < AMAB) && (AMAB < AB) && (0 < AMAD) && (AMAD < AD))

        {

            return false;

        }

    }

    return true;

}

void generateTempPoint(RRT::rrtNode &tempNode)

{

    int x = rand() % 150 + 1;

    int y = rand() % 150 + 1;

    //std::cout<<"Random X: "<<x <<endl<<"Random Y: "<<y<<endl;

    tempNode.posX = x;

    tempNode.posY = y;

}

bool addNewPointtoRRT(RRT &myRRT, RRT::rrtNode &tempNode, int rrtStepSize, vector< vector<geometry_msgs::Point> > &obstArray)

{

    int nearestNodeID = myRRT.getNearestNodeID(tempNode.posX,tempNode.posY);

    RRT::rrtNode nearestNode = myRRT.getNode(nearestNodeID);

    double theta = atan2(tempNode.posY - nearestNode.posY,tempNode.posX - nearestNode.posX);

    tempNode.posX = nearestNode.posX + (rrtStepSize * cos(theta));

    tempNode.posY = nearestNode.posY + (rrtStepSize * sin(theta));

    if(checkIfInsideBoundary(tempNode) && checkIfOutsideObstacles(obstArray,tempNode))

    {

        tempNode.parentID = nearestNodeID;

        tempNode.nodeID = myRRT.getTreeSize();

        myRRT.addNewNode(tempNode);

        return true;

    }

    else

        return false;

}

bool checkNodetoGoal(int X, int Y, RRT::rrtNode &tempNode)

{

    double distance = sqrt(pow(X-tempNode.posX,2)+pow(Y-tempNode.posY,2));

    if(distance < 3)

    {

        return true;

    }

    return false;

}

void setFinalPathData(vector< vector<int> > &rrtPaths, RRT &myRRT, int i, visualization_msgs::Marker &finalpath, int goalX, int goalY)

{

    RRT::rrtNode tempNode;

    geometry_msgs::Point point;

    for(int j=0; j<rrtPaths[i].size();j++)

    {

        tempNode = myRRT.getNode(rrtPaths[i][j]);

        point.x = tempNode.posX;

        point.y = tempNode.posY;

        point.z = 0;

        finalpath.points.push_back(point);

    }

    point.x = goalX;

    point.y = goalY;

    finalpath.points.push_back(point);

}

int main(int argc,char** argv)

{

    //initializing ROS

    ros::init(argc,argv,"rrt_node");

	ros::NodeHandle n;

	//defining Publisher

	ros::Publisher rrt_publisher = n.advertise<visualization_msgs::Marker>("path_planner_rrt",1);

	//defining markers

    visualization_msgs::Marker sourcePoint;

    visualization_msgs::Marker goalPoint;

    visualization_msgs::Marker randomPoint;

    visualization_msgs::Marker rrtTreeMarker;

    visualization_msgs::Marker finalPath;

    initializeMarkers(sourcePoint, goalPoint, randomPoint, rrtTreeMarker, finalPath);

    //setting source and goal

    sourcePoint.pose.position.x = 2;

    sourcePoint.pose.position.y = 2;

    goalPoint.pose.position.x = 95;

    goalPoint.pose.position.y = 95;

    rrt_publisher.publish(sourcePoint);

    rrt_publisher.publish(goalPoint);

    ros::spinOnce();

    ros::Duration(0.01).sleep();

    srand (time(NULL));

    //initialize rrt specific variables

    //initializing rrtTree

    RRT myRRT(2.0,2.0);

    int goalX, goalY;

    goalX = goalY = 95;

    int rrtStepSize = 3;

    vector< vector<int> > rrtPaths;

    vector<int> path;

    int rrtPathLimit = 1;

    int shortestPathLength = 9999;

    int shortestPath = -1;

    RRT::rrtNode tempNode;

    vector< vector<geometry_msgs::Point> >  obstacleList = getObstacles();

    bool addNodeResult = false, nodeToGoal = false;

    while(ros::ok() && status)

    {

        if(rrtPaths.size() < rrtPathLimit)

        {

            generateTempPoint(tempNode);

            //std::cout<<"tempnode generated"<<endl;

            addNodeResult = addNewPointtoRRT(myRRT,tempNode,rrtStepSize,obstacleList);

            if(addNodeResult)

            {

               // std::cout<<"tempnode accepted"<<endl;

                addBranchtoRRTTree(rrtTreeMarker,tempNode,myRRT);

               // std::cout<<"tempnode printed"<<endl;

                nodeToGoal = checkNodetoGoal(goalX, goalY,tempNode);

                if(nodeToGoal)

                {

                    path = myRRT.getRootToEndPath(tempNode.nodeID);

                    rrtPaths.push_back(path);

                    std::cout<<"New Path Found. Total paths "<<rrtPaths.size()<<endl;

                    //ros::Duration(10).sleep();

                    //std::cout<<"got Root Path"<<endl;

                }

            }

        }

        else //if(rrtPaths.size() >= rrtPathLimit)

        {

            status = success;

            std::cout<<"Finding Optimal Path"<<endl;

            for(int i=0; i<rrtPaths.size();i++)

            {

                if(rrtPaths[i].size() < shortestPath)

                {

                    shortestPath = i;

                    shortestPathLength = rrtPaths[i].size();

                }

            }

            setFinalPathData(rrtPaths, myRRT, shortestPath, finalPath, goalX, goalY);

            rrt_publisher.publish(finalPath);

        }

        rrt_publisher.publish(sourcePoint);

        rrt_publisher.publish(goalPoint);

        rrt_publisher.publish(rrtTreeMarker);

        //rrt_publisher.publish(finalPath);

        ros::spinOnce();

        ros::Duration(0.01).sleep();

    }

	return 1;

}

头文件定义类如下：

obstacles：

#ifndef OBSTACLES_H

#define OBSTACLES_H

#include <geometry_msgs/Point.h>

#include <vector>

#include <iostream>

using namespace std;

class obstacles

{

    public:

        /** Default constructor */

        obstacles() {}

        /** Default destructor */

        virtual ~obstacles() {}

        vector< vector<geometry_msgs::Point> > getObstacleArray();

    protected:

    private:

        vector< vector<geometry_msgs::Point> > obstacleArray;

};

#endif // OBSTACLES_H

rrt：

#ifndef rrt_h

#define rrt_h

#include <vector>

using namespace std;

namespace rrt {

	class RRT{

        public:

            RRT();

            RRT(double input_PosX, double input_PosY);

            struct rrtNode{

                int nodeID;

                double posX;

                double posY;

                int parentID;

                vector<int> children;

            };

            vector<rrtNode> getTree();

            void setTree(vector<rrtNode> input_rrtTree);

            int getTreeSize();

            void addNewNode(rrtNode node);

            rrtNode removeNode(int nodeID);

            rrtNode getNode(int nodeID);

            double getPosX(int nodeID);

            double getPosY(int nodeID);

            void setPosX(int nodeID, double input_PosX);

            void setPosY(int nodeID, double input_PosY);

            rrtNode getParent(int nodeID);

            void setParentID(int nodeID, int parentID);

            void addChildID(int nodeID, int childID);

            vector<int> getChildren(int nodeID);

            int getChildrenSize(int nodeID);

            int getNearestNodeID(double X, double Y);

            vector<int> getRootToEndPath(int endNodeID);

        private:

            vector<rrtNode> rrtTree;

            double getEuclideanDistance(double sourceX, double sourceY, double destinationX, double destinationY);

	};

};

#endif

其他代码：

CMakeLists：

cmake_minimum_required(VERSION 2.8.3)

project(path_planning)

## Find catkin macros and libraries

## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

## is used, also find other catkin packages

find_package(catkin REQUIRED COMPONENTS

  roscpp

  std_msgs

  visualization_msgs

)

## System dependencies are found with CMake's conventions

# find_package(Boost REQUIRED COMPONENTS system)

## Uncomment this if the package has a setup.py. This macro ensures

## modules and global scripts declared therein get installed

## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html

# catkin_python_setup()

################################################

## Declare ROS messages, services and actions ##

################################################

## To declare and build messages, services or actions from within this

## package, follow these steps:

## * Let MSG_DEP_SET be the set of packages whose message types you use in

##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).

## * In the file package.xml:

##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET

##   * If MSG_DEP_SET isn't empty the following dependencies might have been

##     pulled in transitively but can be declared for certainty nonetheless:

##     * add a build_depend tag for "message_generation"

##     * add a run_depend tag for "message_runtime"

## * In this file (CMakeLists.txt):

##   * add "message_generation" and every package in MSG_DEP_SET to

##     find_package(catkin REQUIRED COMPONENTS ...)

##   * add "message_runtime" and every package in MSG_DEP_SET to

##     catkin_package(CATKIN_DEPENDS ...)

##   * uncomment the add_*_files sections below as needed

##     and list every .msg/.srv/.action file to be processed

##   * uncomment the generate_messages entry below

##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder

# add_message_files(

#   FILES

#   Message1.msg

#   Message2.msg

# )

## Generate services in the 'srv' folder

# add_service_files(

#   FILES

#   Service1.srv

#   Service2.srv

# )

## Generate actions in the 'action' folder

# add_action_files(

#   FILES

#   Action1.action

#   Action2.action

# )

## Generate added messages and services with any dependencies listed here

# generate_messages(

#   DEPENDENCIES

#   std_msgs#   visualization_msgs

# )

###################################

## catkin specific configuration ##

###################################

## The catkin_package macro generates cmake config files for your package

## Declare things to be passed to dependent projects

## INCLUDE_DIRS: uncomment this if you package contains header files

## LIBRARIES: libraries you create in this project that dependent projects also need

## CATKIN_DEPENDS: catkin_packages dependent projects also need

## DEPENDS: system dependencies of this project that dependent projects also need

catkin_package(

  INCLUDE_DIRS include

  LIBRARIES path_planning

  CATKIN_DEPENDS roscpp std_msgs visualization_msgs

  DEPENDS system_lib

)

###########

## Build ##

###########

## Specify additional locations of header files

## Your package locations should be listed before other locations

# include_directories(include)

include_directories(include

  ${catkin_INCLUDE_DIRS}

)

## Declare a cpp library

add_library(path_planning

	src/rrt.cpp

	src/obstacles.cpp

)

## Declare a cpp executable

# add_executable(path_planning_node src/path_planning_node.cpp)

add_executable(rrt_node src/rrt_node.cpp)

add_dependencies(rrt_node path_planning)

target_link_libraries(rrt_node path_planning ${catkin_LIBRARIES} )

add_executable(env_node src/environment.cpp)

add_dependencies(env_node path_planning)

target_link_libraries(env_node path_planning ${catkin_LIBRARIES} )

## Add cmake target dependencies of the executable/library

## as an example, message headers may need to be generated before nodes

# add_dependencies(path_planning_node path_planning_generate_messages_cpp)

## Specify libraries to link a library or executable target against

# target_link_libraries(path_planning_node

#   ${catkin_LIBRARIES}

# )

#############

## Install ##

#############

# all install targets should use catkin DESTINATION variables

# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation

## in contrast to setup.py, you can choose the destination

# install(PROGRAMS

#   scripts/my_python_script

#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

# )

## Mark executables and/or libraries for installation

# install(TARGETS path_planning path_planning_node

#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

# )

## Mark cpp header files for installation

# install(DIRECTORY include/${PROJECT_NAME}/

#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

#   FILES_MATCHING PATTERN "*.h"

#   PATTERN ".svn" EXCLUDE

# )

## Mark other files for installation (e.g. launch and bag files, etc.)

# install(FILES

#   # myfile1

#   # myfile2

#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

# )

#############

## Testing ##

#############

## Add gtest based cpp test target and link libraries

# catkin_add_gtest(${PROJECT_NAME}-test test/test_path_planning.cpp)

# if(TARGET ${PROJECT_NAME}-test)

#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})

# endif()

## Add folders to be run by python nosetests

# catkin_add_nosetests(test)

package：

<?xml version="1.0"?>

<package>

  <name>path_planning</name>

  <version>1.0.0</version>

  <description>A path planning algorithm using RRT visualized in RVIZ</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->

  <!-- Example:  -->

  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->

  <maintainer email="nalin00796@gmail.com">Nalin Gupta</maintainer>

  <!-- One license tag required, multiple allowed, one license per tag -->

  <!-- Commonly used license strings: -->

  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->

  <license>TODO</license>

  <!-- Url tags are optional, but mutiple are allowed, one per tag -->

  <!-- Optional attribute type can be: website, bugtracker, or repository -->

  <!-- Example: -->

  <!-- <url type="website">http://wiki.ros.org/path_planning</url> -->

  <!-- Author tags are optional, mutiple are allowed, one per tag -->

  <!-- Authors do not have to be maintianers, but could be -->

  <!-- Example: -->

  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->

  <!-- The *_depend tags are used to specify dependencies -->

  <!-- Dependencies can be catkin packages or system dependencies -->

  <!-- Examples: -->

  <!-- Use build_depend for packages you need at compile time: -->

  <!--   <build_depend>message_generation</build_depend> -->

  <!-- Use buildtool_depend for build tool packages: -->

  <!--   <buildtool_depend>catkin</buildtool_depend> -->

  <!-- Use run_depend for packages you need at runtime: -->

  <!--   <run_depend>message_runtime</run_depend> -->

  <!-- Use test_depend for packages you need only for testing: -->

  <!--   <test_depend>gtest</test_depend> -->

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>

  <build_depend>std_msgs</build_depend>

  <build_depend>visualization_msgs</build_depend>

  <run_depend>roscpp</run_depend>

  <run_depend>std_msgs</run_depend>

  <run_depend>visualization_msgs</run_depend>

  <!-- The export tag contains other, unspecified, tags -->

  <export>

    <!-- You can specify that this package is a metapackage here: -->

    <!-- <metapackage/> -->

    <!-- Other tools can request additional information be placed here -->

  </export>

</package>

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