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- ROS
- gcc >= 7 (for C++17)
- Cython
- google benchmark
do recursive cloning :
git clone --recursive https://github.com/alifahrri/robosoccer_motion_planning.git
standard ROS build, but it is recommended to use only single thread since it will take huge amount of RAM.
catkin_make -j1
run unit test setting from catkin
catkin_make -j1 run_tests
use google benchmark settings
rosrun rrtstar rrtstar_benchmark
custom settings (report min, max, mean also prints individual test results)
rosrun rrtstar rrtstar_custom_benchmark
tested on intel i3 2.0 GHz
computation time | solution cost |
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no direct sampling | direct sampling with prob = 0.1 |
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- the core of the motion planning algorithm
robosoccer_motion_planning/src/robosoccer_motion_planning_node
- trajectory tracking node for robot soccer
robosoccer_trajectory_tracking/scripts/trajectory_cytracker.py
- control robots with waypoints
robosoccer_teleop/scripts/robosoccer_teleop_node.py
- example of trajectory generator as server node
robosoccer_motion_planning/src/trajectory_generator_node
- example of trajectory generator client node
robosoccer_motion_planning/scripts/trajectory_demo.py
- run all necessary nodes (core, trajectory tracking, and teleop) :
robosoccer_bringup.launch
- record necessary messages with rosbag :
recorder.launch
. Launch it after bringup. - play recorded bag files (this will shows visualisation and plotter) :
player.launch file:=your_file_full_path.bag