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Fix path too close to obstacles issue #46
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ae79feb
move base sim
ethanckim 3af0387
move to verticies prototype
ethanckim 7cf3594
mountain pattern algorithm implementation
ethanckim 95db633
Merge pull request #1 from MapaRobo/path_planner_algorithm
ethanckim 4f38a1f
add gitignore
ethanckim 2b8c78c
Merge branch 'master' of https://github.com/MapaRobo/full_coverage_pa…
ethanckim 60649b1
update gitignore
ethanckim a8bc76b
restored visualization environment
ethanckim 174ea81
Set initial heading based on obstacles, not map coordinates
ethanckim 6fed446
Fix infinite loop error and improved heading decision of path plannin…
ethanckim b401969
Use costmap instead of static map
ethanckim 8a446b3
Changed test launch files due to using costmaps
ethanckim f694051
Rename Spiral to Boustrophedon and Updated README.md accordingly
ethanckim e5a8965
Let parse costmap function consider robot radius
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# Created by https://www.toptal.com/developers/gitignore/api/cmake,visualstudiocode,c++ | ||
# Edit at https://www.toptal.com/developers/gitignore?templates=cmake,visualstudiocode,c++ | ||
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### C++ ### | ||
# Prerequisites | ||
*.d | ||
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# Compiled Object files | ||
*.slo | ||
*.lo | ||
*.o | ||
*.obj | ||
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# Precompiled Headers | ||
*.gch | ||
*.pch | ||
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# Compiled Dynamic libraries | ||
*.so | ||
*.dylib | ||
*.dll | ||
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# Fortran module files | ||
*.mod | ||
*.smod | ||
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# Compiled Static libraries | ||
*.lai | ||
*.la | ||
*.a | ||
*.lib | ||
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# Executables | ||
*.exe | ||
*.out | ||
*.app | ||
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### CMake ### | ||
CMakeLists.txt.user | ||
CMakeCache.txt | ||
CMakeFiles | ||
CMakeScripts | ||
Testing | ||
Makefile | ||
cmake_install.cmake | ||
install_manifest.txt | ||
compile_commands.json | ||
CTestTestfile.cmake | ||
_deps | ||
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### CMake Patch ### | ||
# External projects | ||
*-prefix/ | ||
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### VisualStudioCode ### | ||
.vscode/* | ||
!.vscode/settings.json | ||
!.vscode/tasks.json | ||
!.vscode/launch.json | ||
!.vscode/extensions.json | ||
*.code-workspace | ||
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# Local History for Visual Studio Code | ||
.history/ | ||
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### VisualStudioCode Patch ### | ||
# Ignore all local history of files | ||
.history | ||
.ionide | ||
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# End of https://www.toptal.com/developers/gitignore/api/cmake,visualstudiocode,c++ | ||
.vscode/settings.json |
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<library path="lib/libfull_coverage_path_planner"> | ||
<class name="full_coverage_path_planner/SpiralSTC" type="full_coverage_path_planner::SpiralSTC" base_class_type="nav_core::BaseGlobalPlanner"> | ||
<class name="full_coverage_path_planner/BoustrophedonSTC" type="full_coverage_path_planner::BoustrophedonSTC" base_class_type="nav_core::BaseGlobalPlanner"> | ||
<description> | ||
Plans a path that covers all accessible points in a costmap by using Spiral-STC. | ||
Spiral-STC works by following the walls and spiraling inwards until it cannot go further. | ||
Then it uses A* to go back outside of the current spiral and then spirals again. | ||
Plans a path that covers all accessible points in a costmap by using Boustrophedon-STC (Spanning Tree Coverage). | ||
In essence, the robot moves forward until an obstacle or visited node is met, then turns right or left (making a boustrophedon pattern) | ||
When stuck while completing a boustrophedon pattern, use A* to get out again and start a new boustrophedon, until A* can't find a path to uncovered cells | ||
</description> | ||
</class> | ||
</library> |
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image: square.png | ||
resolution: 0.05 | ||
origin: [-5, -5, 0.0] | ||
negate: 0 | ||
occupied_thresh: 0.65 | ||
free_thresh: 0.196 |
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Please remove this file. None of the files listed are present in this repository.