ROS2 porting of Fast-Planner

This repository is ROS2 (Foxy) ported Fast-planner codebase from the official ROS1 Fast-Planner codebase as here - link

Demo of ROS2 ported Kinodynamic Path Searching & B-spline Optimization

Setup (Tested on below setup)

• ROS2 - FOXY
• ROS1 - NOETIC
• Ubuntu - 20.04 (System and Intel NUC)

Host build

mkdir ros2_ws
cd ros2_ws
mkdir src
cd src
git clone https://github.com/RohitPawar2406/Fast-Planner-ROS2
cd ..
colcon build

Note : UAV simulator ros nodes (as in official ROS1 repository) are not yet ported in ROS2, so we are using the rosbridge setup for it. Detailed instructions to run the setup is given as below :

Setup & Run ROS1 (uav_simulator code)

• Clone the ros1 package as here and build it using catkin_make.
• Run the uav simulator ros node, as given below.

source devel/setup.bash
roslaunch so3_control kino_replan.launch

Setup & Run ROS1 bridge

• Clone and build the ros1 bridge package as given in detail here.
• Run the ros1 bridge node as given below.

# source noetic
source /opt/ros/noetic/setup.bash

# source foxy
source /opt/ros/foxy/setup.bash

# Then source ros1 fast planner workspace - uav simulator code in above step 
# eg(ours) : source ~/workspace/iiit-r/half_fastplanner/devel/setup.bash

# Then source ros2 fast planner workspace
# eg(ours) : source ~/workspace/iiit-r/fastplanner_ws2/install/setup.bash

source install/setup.bash
ros2 run ros1_bridge dynamic_bridge

Run the Kino Replan Launch File

cd ros2_ws # ros2 workspace build above
source install/setup.bash
ros2 launch  plan_manage  kino_replan_launch.xml

Run the RViz

cd ros2_ws # ros2 workspace build above
source install/setup.bash
ros2 launch plan_manage rviz.launch.xml

Note : For rviz you may need to manually load the rviz file from visualizer

• File > Open config > Select .rviz file path (Fast-Planner-ROS2 > src > planner > plan_manage > rviz2_fastplanner.rviz)

TODO :

• [] Port Topo replan to the ros2
• [] Port the uav simulator ros package to ros2 and remove dependency of ros2 bridge

Reach out for any further queries or discussion at : rohit.pawar@research.iiit.ac.in