A ROS package for simulation. Given a graph and traversal order, and a set of motion primitives, compute the optimal trajectory satisfying the kinematic constraints and visualized in gazebo and rviz.

• ROS Kinetic or later
• Ubuntu 16.04 or later

1. Create a new workspace:

mkdir -p ~/motion_primitive_planning/src
cd ~/motion_primitive_planning/src
catkin_init_workspace

2. Clone the package into the workspace:

git clone https://github.com/HyPAIR/motion_primitive_planning.git

3. Install dependencies:

rosdep install motion_primitive_planning

3. Build the workspace:

cd ~/motion_primitive_planning
catkin_make

1. Save the data.json file to ~/motion_primitive_planning/src/motion_primitive_planning/data/.

2. Launch the node to compute the optimal trajectory:

   roslaunch motion_primitive_planning compute_optimal_traj.launch

3. Launch the node to visulize the trajectory in simulation:

   roslaunch motion_primitive_planning visualize.launch

4. Launch the node to visulize the robot in gazebo and rviz:

   roslaunch mir_examples single_mir_100.launch 

5. Launch the node to visualize the map

   roslaunch motion_primitive_planning visualize_real.launch 

6. Launch the node to let the robot track the given trajectory

   roslaunch motion_primitive_planning sarah_traj_tracking.launch