Implementation of a ROS2/Navigation2 plug-in: Rapidly-exploring Random Tree algorithm as global planner

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Home Courses Implementation of a ROS2/Navigation2 plug-in: Rapidly-exploring Random Tree algorithm as global planner

Type of course:

Digital learning, Lesson

Language:

EN

Duration:

30 minutes

Workload:

2 hours

Proficiency:

Advanced

Target:

Professionals, Students

This nugget teaches the learner how to implement a global planner for ROS2 Navigation2 with the practical hands-on example of the implementation of the Rapidly-exploring Random Tree algorithm.

Learning outcomes

Students create a custom global-planner plugin for Navigation2
Students compile some C++ code and install the necessary files to use it in ROS2
Students configure Navigation2 to use their custom plugin

Course Content

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Implementation of a ROS2/Navigation2 plug-in: Rapidly-exploring Random Tree algorithm as global planner 12 Unities

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Single module Content

0% Complete 0/12 Steps

Requirements to Write a New Planner Plug-in

First step: Copy a reference implementation

Second step: Move from nav2_straightline_planner to nav2_rrt_planner

Third step: Implement the algorithm into rrt_planner.cpp

Forth step: Exporting the planner plug-in

Fifth step: Compilation & Installation

Final step: Configuration of Nav2 to use our custom plug-in

Summary and Credits

Topics

Automation and Robotics, Digital Transformation, Automated Guided Vehicle (AGV), Robots, Robot Operating System (ROS), Navigation Systems, Programming

Provided by

Czech Technical University

Content created in 2022

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