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software:packages:lattice_planner

Lattice planner

This page covers the installation of the LARICS lattice planner and its dependencies.

Installation

Clone LARICS lattice planner and agv_control_msgs into your catkin workspace.

Install matio

$ sudo apt install libmatio-dev

This solves both the matio and the hdf5 dependency.

Run catkin_make and you should be good to go.

Installing hdf5

On the author's machine installing hdf5 via apt-get was faulty and the library had to be built from source.

To do this follow the instructions on this page. Make sure to add the C++ interface in the third step.

$ ./configure --prefix=/usr/local/hdf5 --enable-cxx

Should the linker still reports problems, create a symbolic link to libhdf5.so in the directory where the linker searches for hdf5

Example:

$ sudo ln -s /usr/local/hdf5/lib/libhdf5.so /usr/lib/libhdf5.so

Usage

Sample launch file entry:

<node pkg="lattice_planner" type="pathPlanner" name="planner"
      args="vehicle_parameters.mat"     
      output="screen">
  <param name="map_frame_id" value="$(arg name)/map"/>
  <param name="robot_frame_id" value="$(arg name)/$(arg base)"/>  
  <!-- The path shall start in this frame's origin -->
</node>

Bare in mind that the planner requires the map's origin to be in [0, 0, 0].

The planner node is subscribed to the following topics:

  • /goal - 2D NavGoal published from Rviz
  • /map
  • /tf
  • /tf_static

The planner publishes to the /plan topic

software/packages/lattice_planner.txt · Last modified: 2017/08/19 00:48 by rmilijas