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Let's say I need to run Dijkstra's algorithm to find the shortest distance between two points.
Can anyone tell me how to make a pose array and use it to store the shortest path and then visualise it?
The easiest way to do this is using the nav_msgs/path message already available on ROS
http://docs.ros.org/api/nav_msgs/html...
It consists on an array of PoseStamped with a common header..
Plus the nav_msgs/Path it has a built-in display in rviz.
For anyone that could be interested in this in the future, attaching a project of mine I did earlier which visualises Depth First Search, Breadth First Search, Djikstras and A* in rviz : https://github.com/indraneelpatil/Gra...
I am using a nav_msgs/GridCells message to visualise the occupancy grid map and visualization_msgs/MarkerArray to visualise the cost map
Explored nodes, frontier nodes and final path are highlighted in the same messages above using specific colours.
The demos are uploaded here : https://www.youtube.com/watch?v=s5UPQ... and https://www.youtube.com/watch?v=NP1Ii...
Cheers!
Asked: 2019-11-08 07:40:57 -0500
Seen: 901 times
Last updated: Jun 25 '20
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If you construct a
PoseArraymessage in your Dijkstra node and publish it, then there is a built-in Display type in rviz to visualize this data. Might I suggest you edit your question and be a bit more specific about what part of this process you are having trouble with.