egh450_path_planning

An example ROS package to perform high-level path-planning utilizing breadcrumb

Download & Compile

Before you compile this node, ensure you have downloaded and compiled breadcrumb.

cd ~/catkin_ws/src
git clone https://github.com/qutas/egh450_path_planning
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

Usage

To run a basic demonstration off of contrail navigation interface, first launch uavusr_emulator guidance example as per usual. Next, you will need to make a copy of the demo launch file:

mkdir -p ~/catkin_ws/launch
cd ~/catkin_ws/launch
roscp egh450_path_planning planner_demo.launch ./

Next, edit the newly created launch file, using the remap roslaunch commands to connect the planner interfaces with the breadcrumb and contrail interfaces (identify them using the rostopic list):

nano ~/catkin_ws/launch/planner_demo.launch

Once ready, save and run the launch file with the command:

roslaunch ~/catkin_ws/launch/planner_demo.launch