This project demonstrates the simulation of goal biased RRT. This also retrieves the shortest path from the RRT path and then smooth the path using multinomial regression based curve fitting.

• First, git clone the project git clone https://github.com/kadupitiya/rrt.git
• Now open a terminal(Lets call terminal 1) and navigate the project.
• Next, go to the root directory(terminal 1): cd rrt
• Then, build the project(terminal 1): catkin_make
• Then, use the following command(terminal 1): source devel/setup.bash
• Next, open a separate terminal and run Ros core(terminal 2) and keep it opened: roscore
• Next, run the rrt project using following command(terminal 1): rosrun rrt rrt
• Finally, open another terminal and run rviz to see the visualization(terminal 3): rosrun rviz rviz
• Find the “Marker” and add a "Marker". Now Rviz should start to listen to the Marker messages published from the rrt node.
• Video: