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ariitk_planning_library

The aim of this ROS package is to create a planning library for MAVs i.e. given start and goal positions in an environment(which may be highly cluttered or a free space as well) , a path has to be generated between them and also to be visualized in rviz.

This wiki has been created focusing particularly on the implement_2D branch of the repository.

This repository contains three packages:

1. skeleton_global_planner: An online planner based on the voxblox_skeleton_planner, uses mav_local_planner for trajectory execution.
2. a_star_planner: 2D counterpart of the skeleton_global_planner.
3. frontier_explorer: A package for frontier-based exploration in unknown environments.

Very heavily based off the following repositories:

ethz-asl/mav_voxblox_planning : MAV planning tools using voxblox as the map representation.

ethz-asl/mav_active_3d_planning : A modular framework for online informative path planner (IPP) design.

The General Idea

The general idea behind using voxblox for planning is to have two nodes running:

• one for the mapping, which ingests pointcloud data and produces both a TSDF and an ESDF,

• and one for planning, which subscribes to the latest ESDF layer over ROS.

The planner should have a voxblox::EsdfServer as a member, and simply remap the esdf_map_out and esdf_map_in topics to match.