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A global planner using a Roadmap graph

asked 2019-02-26 15:26:31 -0500

ct2034
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Is there a global planner in ROS1 that can deal with a predefined Roadmap graph to make the robot move on its edges. I think this would be a very useful thing but can not find anything in that area.

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Comments

Is a Roadmap graph a specific data structure?

David Lu ( 2019-02-26 15:41:47 -0500 )edit

No. I mean just a generic geometric graph that is not a gridmap. For example from a 2D PRM etc. It would be good to use something existing like a Boost Graphs, Networkx or GraphML. And it would also be a good feature to get this graph via a topic (similar to the map topic, but a graph)