Instructions - AGV-IIT-KGP/HybridAstar GitHub Wiki

Compilation

  • Change the path in test.cpp and test_benchmark.cpp. Replace /home/tejus/catkin_ws/src/HybridAstar with address of package on your computer (say HYBRID_ASTAR_PACKAGE_PATH).
  • catkin_make --pkg hybrid_astar

Testing

test_simple

  • rosrun hybrid_astar test_simple
  • This executable runs the planner with specified start, destination and map, and then displays the path on screen.

test_benchmark

  • rosrun hybrid_astar test_benchmark < HYBRID_ASTAR_PACKAGE_PATH/tests.txt
  • This executable runs the planner on maps, start, destination specified in tests.txt. It prints the timing information.

test_ros

  • Download prius.urdf to prius_description/urdf/ folder and example.launch and example_params.yaml to navigation/costmap_2d/launch/ folder from here.
  • In the original URDF file, the lidars were very close to the vehicle and so some part of the vehicle also came in laser scan data and therefore some part near vehicle was identified as obstacles by the costmap package. The updated parameter file for costmap package specifies the values for map_x, map_y, map_resolution, publish_frequency etc.
  • roslaunch car_demo demo.launch
  • roslaunch costmap_2d example.launch (Restart if gazebo is restarted.)
  • rosrun hybrid_astar test_ros
  • Give target using Rviz.

Note that curbs on road boundaries are very low and so won't be identified by lidar data. Add other obstacles to gazebo the test planner with gazebo. But the vehicle will still stop after colliding with curbs. So give destination on rviz away from the curbs. You can see curbs in Rviz using 3D-lidar data.