parallel-curves

Parallel Curves Path-Planning

This is a ROS Global (Path) Planner Plugin that implements the Parallel Curves path planning algorithm.

cd ~/ws/src   
git clone https://github.com/aforechi/parallel_curves.git
cd ..
colcon build

Andino Robot Simulator

If you decided to test this plugin using Andino Robot Simulator you can install it with the following instructions:

$ cd ~/ws/src
$ git clone https://github.com/Ekumen-OS/andino.git
$ cd ..
$ colcon build
$ rosdep install --from-paths src --ignore-src -i -y
$ source install/setup.bash

Running the Plugin on the Andino Robot using Gazebo Simulator**

In order to load this plugin you have to change the default value of "plugin" to "parallel_curves/ParallelCurvesRos" in the configuration YAML file of the navigation planners nav2_params.yaml you should insert the parameters values of the new planner:

<!-- File nav2_params.yaml -->
<!-- ~/ws/src/andino_navigation/params/nav2_params.yaml -->
planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    plugins: ["GridBased"]
    use_sim_time: True
    GridBased:
      plugin: "parallel_curves/ParallelCurvesRos"
      tolerance: 0.5
      allow_unknown: true
      line_splits: 2

3. Testing the planner with Gazebo Simulator and Rviz

In three separate terminals, execute these three launch commands:

. /usr/share/gazebo/setup.bash
ros2 launch andino_navigation andino_simulation_navigation.launch.py 

To test the plugin just click on "2D Nav Goal" button (at the top) and choose a goal location. You can now see that path generated by this planner (in green) and the robot moving to its goal if everything is fine.

Unit Tests

Launch the tests verification:

colcon test 
colcon test-result --all

Errors and Issues

If you find some error or issue, please create a new issue and help me to improve this package.

Citation

If you use the navigation algorithm from this repository, please cite this work in your papers!

• A. Baumgarten, L. Resendo, A. Forechi. Parallel Curves Path Planning Based on Tangent Segments to Concentric Curves. Robot 2023: Sixth Iberian Robotics Conference, 2023.

@InProceedings{baumgarten2023,
  title = {Parallel Curves Path Planning Based on Tangent Segments to Concentric Curves},
  author = {Baumgarten, Alysson and Resendo, Leandro and Forechi, Avelino},
  year = {2023},
  booktitle = {Robot 2023: Sixth Iberian Robotics Conference},
  url = {https://github.com/aforechi/parallel_curves},
  pdf = {https://link.springer.com/chapter/10.1007/978-3-031-58676-7_21}
}