Implementation of a rapidly expanding random trees algorithm for ROS (Robot Operating System).
You need to have installed ROS - Robot Operating System in your system.
Clone the rrt-ros repository in to your preferable workspace. Then compile it using catkin as follows.
git clone https://github.com/Malintha/rrt-ros
cd rrt-ros
catkin_make
Source the setup file of the rrt-ros to make the rrt-planning package visible to ros.
source devel/setup.bash
Run roscore in another terminal.
roscore
Then run rrt node as follows.
rosrun rrt-planning rrt
You will be now promped to run rviz for visualization. Then run Rviz in another terminal.
rosrun rviz rviz
Add a marker listener to the world and enjoy the simulation!
