I need a simple planner for finding a possible collision free path for a human
Hi,
I am looking for a simple path planner that takes into account a start pose, a goal pose and the (global) costmap of the environment and plans the shortest collision free path from start to goal. I know that there are available planners like A* or Dijkstra in the navigation stack, but they are connected to the move_base node. I need the planner to compute the shortest path that a human would probably follow to his destination. So I do not want to design a path for the robot but for the human.
I was wondering if there is a standalone node of such a planner that simply computes a path from start to end given the costmap.
Thank you
Take a look at using Open Motion Planning Library http://ompl.kavrakilab.org/ directly, not sure about existing standalone nodes (subscribe to goal and current position, publish plan, or service version of same).
@dmkarage Have you got the answer? I am also looking for the answer.Can you advice me, please?
@Heba@dmkarage I am also trying to design a path planning node without using move_base. Could you help?
The code in https://github.com/AtsushiSakai/Pytho... may have what you are looking for, and is designed to have minimal dependencies (it doesn't use ros for example, but it's easy to use the code there in a ros node)