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I want to implement RRT for motion planning of a robotic arm. I searched a lot on the internet to get some sample code of RRT for motion planning, but I didn't get any. Can someone please suggest a good source where I can find RRT implemented in C++ for any type of motion planning.

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The OMPL library has some good quality implementations of several sampling-based motion planners, as listed here : http://ompl.kavrakilab.org/planners.html

In particular, you can find several variants of RRT under the BSD license.

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The first hit on GitHub gives me the following implementation, which is what you seem to be looking for.

https://github.com/RoboJackets/rrt

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You can follow this GitHub repository to find RRT, RRT* and RRT with dynamic vehicle constraints (Dubin's dynamics).

https://github.com/ManashRaja/rrt-star-dubins-sim

It has a simple codebase to learn the implementation in C++ and modify as per your requirement.

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Here is the minimalistic implementation of RRT for ROS in C++.

Requirements

  1. You should have ROS (latest version) installed on your system
  2. Use Linux OS to install ROS

Link to the repo:- https://github.com/Safire-AI/RRT

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