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Hi,

I'm working on a path planner that incorporates dynamic obstacle avoidance. I was wondering if there is a visualizer or any tool available for developing path planners?

Some of the requirements would be:

  1. To visualize a 2D (or even 3D) space
  2. Include static and dynamic obstacles programmatically
  3. Visualize robot position and goal
  4. Visualize the progress of the path planner as it searches the space (whichever path planner is used, eg: A*, RRT etc.)

Something similar to this: http://qiao.github.io/PathFinding.js/visual

Thank you.


Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-09-16

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1 Answer 1

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You can definitely visualize all of the above using Rviz, using nav_msgs/Path and nav_msgs/OccupancyGrid outputs from your algorithm.

If you algorithm fits into the move_base state machine approach, it may be best to develop your planner as a plugin (probably for the local planner). If not, you'll probably still find reusing layered costmaps as a very helpful for sensor processing and world state.


Originally posted by paulbovbel with karma: 4518 on 2014-09-16

This answer was ACCEPTED on the original site

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