lightning_rrt

ROS 2 Jazzy package for obtaining 2D navigation paths using the Rapidly-exploring Random Tree (RRT) algorithm. Custom messages for this package can be found in lightning_rrt_interfaces

lightning_rrt.mp4

Installation

1. Install ROS 2 Jazzy
2. Install this package and its interfaces:

sudo apt install ros-jazzy-lightning-rrt ros-jazzy-lightning-rrt-interfaces

Usage

See src/example_map.cpp for publishing an RRT request. Run the example with:

source /opt/ros/jazzy/setup.bash
ros2 launch lightning_rrt launch.xml

Nodes

Run with source /opt/ros/jazzy/setup.bash | ros2 run lightning_rrt <node_name>

• example_map: Publishes an example RRT request with a map, start, and goal
• lightning_rrt: Subscribes to rrt_request, publishes path if RRT succeeds
• visualize_rrt: Subscribes to rrt_request, publishes map and start/goal markers for visualization

Future Work

Separating the RRT planner into its own library for swapping/testing.