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Using RRT* from OMPL as global planner in ROS

asked 2019-10-24 04:53:17 -0500

kiko453
17 ●8 ●10 ●12

I want to use RRT* as global planner for my turtlebot. Should I reinvent the wheel by writing the algorithms myself from scratch (as a plugging) as suggested here: https://answers.ros.org/question/3206...

or can I use something like OMPL, if yes, how ? I read something about ompl_ros_interface, but in the documentation page it is said that ompl_ros_interface is not available for Kinetic.

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