Planning for all all-wheel-steering vehicles

Repository for paper "A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots"

Operating instructions:

• Download and install NVIDIA Omniverse issac Sim

  • use isaac Sim open metrocity_with_AGV.usd

• Installing ros noetics

  • put file in src in your src folder of workspace.

• Installing required python environments by conda env create -f environment.yml

• Installing required pkgs by sudo apt install libompl-dev and refer to hastar_path_planner/package.xml

• Launch peripheral modules

  cd src/aws_control
  python plan_utils/ros_interface.py # to bridge the control velocity commands and wheel status
  python path_follower.py # to launch the path smoothing and following module
  
  

• Launch hybrid A star for AWS

  • source devel/setup.bash && roslaunch hybrid_astar manual.launch
  • set goal pose by pressing g on keyboard and left click in rviz

Thanks

• The hybrid_path_planner is developed refer to https://github.com/karlkurzer/path_planner (Author: Karl Kurzer)