PathPlanning

Path Planning Algorithms ROS2 based visualization

Overview

This project focuses on two main components:

• Path Planning Algorithms - Deeper understanding
• Visualization using RViz

Project Components

1. Environment with Obstacles

• Description: Create a text file that details the positions of obstacles and free spaces in a map. This file is then used to display the grid map in RViz.
• Grid map file (e.g., grid_map.txt)

  1 0 0 0 0
  0 0 0 0 0
  0 0 0 1 0
  

2. Start Pose

• Description: Define the initial position of the entity (robot) in the environment. This position is set by the user through RViz.
• Setting Start Pose:
  • In RViz, use the interface to select the start position on the grid map.
  • Ensure the start pose is in a free space (not on an obstacle).
  • This position will be the beginning point for the path planning algorithm.

3. End Pose

• Description: Define the goal position of the entity (robot) in the environment. This position is set by the user through RViz.
• Setting End Pose:
  • In RViz, use the interface to select the end position on the grid map.
  • Ensure the end pose is in a free space (not on an obstacle).
  • This position will be the target point for the path planning algorithm.

4. Path

• Description: The computed path from the start pose to the end pose, avoiding obstacles. This path is generated by the selected path planning algorithm.
• Path Computation:
  • Load the grid map and set the start and end poses in RViz.
  • Select the desired path planning algorithm from the RViz panel.
  • Compute the path using the "Compute Path" button.
  • The algorithm will consider the environment and generate an optimal path, which will be displayed in RViz.

RViz Panel Design to be implemented:

Future TODOs of this projects are ,

1. To Save the generated Path
2. To compare multiple Path Planning Algorithm Results
3. To Pause and to Change the Algorithm During Path Planning
4. To have Dynamic Change of Obstacles
5. To have Dynamic Path Update Based on Obstacle Relocation
6. Enabling Dynamic Start/End Pose Relocation
7. To have Multiple Goal Points at the Same Time from a Single Start Point
8. NavThroughPoses Type Sequence Waypoint-based Path Planning
   • Algorithm selection for each waypoint

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Architecutre and Flowchart Design

https://excalidraw.com/#json=EgwzmNNtzI8q3P7R3V8eg,Bgvn1W48NQgicsTXuHwJbA

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