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CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(rrt_planner)
+
+# add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  geometry_msgs
+  gazebo_msgs
+  nav_msgs
+  sensor_msgs
+  message_generation
+)
+
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+add_service_files(
+  FILES
+  StartGoalPath.srv
+  OccMapInfo.srv
+  RandomGetPath.srv
+  MapOcc.srv
+)
+
+generate_messages(  # 自定義 Serivice 中有用到的 ROS library
+  DEPENDENCIES
+  geometry_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rrt_planner
+  CATKIN_DEPENDS 
+  roscpp 
+  rospy
+  geometry_msgs
+  gazebo_msgs
+  nav_msgs
+  message_runtime
+  # DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(rrt_planner 
+  src/rrt_planner.cpp
+  src/grid_map.cpp
+)
+target_link_libraries(rrt_planner  ${catkin_LIBRARIES} )
+
+#############
+## Install ##
+#############
+
+
+#############
+## Testing ##
+#############

config/base_global_planner_params.yaml

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+BRRTStarPlanner:
+  tolerance: 0.5
+  radius: 0.1
+  epsilon_min: 0.01
+  epsilon_max: 0.1
+  max_node_num: 10000
+  # waypoint_step: 0.025
+  robot_radius: 0.1 # 0.45  #0.29 # obstacle collision
+  inter_radius: -1.0
+  timeout_second: 20.0
+  global_visualization: true
+  global_debug: true
+  map_debug: false
+  visualization_step: 1

config/global_test.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.4000000059604645
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /rrt_planner/marker_tree
+      Name: MK_Tree
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Marker
+      Enabled: false
+      Marker Topic: /rrt_planner/marker_path
+      Name: MK_Path
+      Namespaces:
+        {}
+      Queue Size: 1
+      Value: false
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /marker_start
+      Name: MK_start
+      Namespaces:
+        {}
+      Queue Size: 1
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /marker_goal
+      Name: MK_goal
+      Namespaces:
+        {}
+      Queue Size: 1
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /rrt_planner/marker_beacon
+      Name: MK_beacons
+      Namespaces:
+        {}
+      Queue Size: 1
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 6.996328353881836
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 1.5707963705062866
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.5697963237762451
+      Target Frame: <Fixed Frame>
+      Yaw: 3.140000104904175
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000397000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1267
+  X: 632
+  Y: 123

include/rrt_planner/grid_map.h

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+#ifndef RRT_GRID_MAP_H_
+#define RRT_GRID_MAP_H_
+
+#include<math.h>
+#include<stdio.h>
+#include<ros/ros.h>
+#include<nav_msgs/OccupancyGrid.h>
+#include<geometry_msgs/Point.h>
+#include<geometry_msgs/Pose.h>
+#include<geometry_msgs/PoseStamped.h>
+#include<rrt_planner/node.h>
+
+#define TWO_PI  2*M_PI
+#define PIECE   M_PI/10
+
+class GridMap
+{
+public:
+
+    ros::NodeHandle nh_;
+    GridMap();
+    GridMap(double robot_radius, bool debug);
+    ~GridMap();
+
+    void initialize(double robot_radius, bool debug);
+    void generate_start_goal(geometry_msgs::PoseStamped& start, 
+                            geometry_msgs::PoseStamped& goal,
+                            int id);
+    void generate_goal( geometry_msgs::PoseStamped& start, 
+                        geometry_msgs::PoseStamped& goal,
+                        int id);
+
+    void get_occ_map_info();
+    void get_map_info_value(double& m_origin_x, double& m_origin_y, double& m_res, int& m_width, int& m_height);
+    void getOrigin(geometry_msgs::Point& origin);
+    void getOrigin(double& x, double& y);
+    void getResolution(double& r);
+    void getMapSize(int& x, int& y);
+    int occGridValue(double x, double y);
+    std::string getMapFrame();
+    bool isObstaclePoint(double x, double y); 
+    bool isObstacleBetween(double Ax, double Ay, double Bx, double By);
+    bool isObstacleAround(double x, double y, unsigned int step);
+
+private:
+
+    void occMapCB(const nav_msgs::OccupancyGrid::ConstPtr& msg);
+    double getRandomValue(double min, double max);
+    bool rectangleFillCells(double max_x, 
+                            double max_y, 
+                            double min_x, 
+                            double min_y, 
+                            std::vector<geometry_msgs::Point>& polygon_cells);
+
+    bool debug_; 
+    nav_msgs::OccupancyGrid occ_map_data_; 
+    double resolution; 
+    double originX;
+    double originY; 
+    int width; 
+    int height; 
+    double robot_radius_;
+    ros::Subscriber occ_sub_;
+};
+
+#endif

include/rrt_planner/node.h

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+#ifndef RRT_NODE_H_
+#define RRT_NODE_H_
+
+#include <cmath>
+
+static inline double euclideanDistance2D(double x1, double y1, double x2, double y2)
+{
+    return hypot( (x1-x2), (y1-y2) );
+}
+
+struct Node {
+    double x{0.0};
+    double y{0.0}; 
+    int node_id{0}; 
+    int parent_id{-1};
+    double cost{0.0}; 
+
+    Node() {}
+
+    Node(double px, double py, int node_index, int parent_index) : 
+        x(px),
+        y(py),
+        node_id(node_index),
+        parent_id(parent_index) {}
+
+    bool operator ==(const Node& node)
+    { 
+        if (node_id == node.node_id)
+            return true;
+
+        if ( euclideanDistance2D(this->x, this->y, node.x, node.y) <= 0.001 )
+            return true;
+
+        return false;
+    }
+
+    bool operator !=(const Node& node) 
+    { 
+        if (node_id == node.node_id)
+            return false;
+
+        if ( euclideanDistance2D(this->x, this->y, node.x, node.y) <= 0.001 )
+            return false;
+
+        return true;
+    }
+};
+
+#endif