Warning
NOTE: This repository is no longer supported or updated. If you wish to continue to develop this code yourself, we recommend you fork it.
Boustrophedon Planner is a coverage path planner that implements a modified cellular decomposition algorithm. The original can be found here.
The path planner is an actionlib server that takes in a geometry_msgs/PolygonStamped and a geometry_msgs/PoseStamped,
and returns a StripingPlan message which contains a list of waypoints to stripe the passed in polygon.
- January 23, 2020:
- The boustrophedon planner can now handle all types of simple polygons that it is given, both convex and concave.
- Inner boundaries are supported, allowing the planner to create paths at a certain offset from the initial given boundary.
- "Half - Y" turns are supported, allowing for some curvature at the start / end of paths to assist robots that are not completely holonomic.
- Many new launch file parameters allow the user to specify more precisely the behavior that they want the plan to have
This repository is subject to version 3 of the GNU Lesser General Public License or later due to its dependencies.
The geometric operations rely on CGAL which is restricted by version 3 of the GNU Lesser General Public License.