Global Planner

This ROS package hosts the global planner for the MuSHR system. It wraps a search-based planner from SBPL. Search based methods have two parts - first, the planning problem and environment must be represented by a graph, and then the graph must be searched from a starting point to a goal. This MuSHR global planner builds upon the SBPL repo by Search-Based Planning Lab at Carnegie Mellon University. MuSHR specifically makes use of the ARA* planning algorithm and plans on an implicit graph in a SE2 (x, y, θ) state space.

Tutorial

The following tutorial goes through installing/running the car.

Installing on the car

Make sure you install pysbpl into your ~/catkin_ws/src. Note that pysbpl depends on SBPL. Please make sure you follow the instructions in the pysbpl repo to install all necessary dependencies first.

Clone this repo into ~/catkin_ws/src

Make sure that you have the tf dependency installed: sudo apt install ros-melodic-tf

You should be good to go!

mushr_gh ROS API

Publishers

Topic	Type	Description
/path_topic	geometry_msgs/Path	The trajectory computed by the planner.

Subscribers

Topic	Type	Description
/map	nav_msgs/OccupancyGrid	Uses the provided occupancy grid as the graph for planning.
/goal_topic	geometry_msgs/PoseStamped	Goal to compute path to.
/start_topic	geometry_msgs/PoseStamped	Starting location of the path being computed.