From 5b12673b2e774919e01cee0e7042edc10c8cd36b Mon Sep 17 00:00:00 2001 From: daviddorf2023 Date: Sun, 5 Nov 2023 16:07:04 -0600 Subject: [PATCH] Add installation to README.md --- README.md | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index ea0165b..4e0593a 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,22 @@ https://github.com/daviddorf2023/ros2rrt/assets/113081373/681f2f3d-e7b1-4488-a60 https://github.com/daviddorf2023/ros2rrt/assets/113081373/dd4268d0-8ca6-4d42-8f72-c304640ba5f7 ## Description -3D and 2D implementations of Rapid Exploring Random Tree algorithms in C++ [WIP] and Python. Meant to be used as a ROS 2 Iron package in the future for 3D and 2D navigation. +3D and 2D implementation of Rapid Exploring Random Tree algorithms for ROS 2. The main ROS 2 nodes are rrt2D and rrt3D, which can take user inputs and publish the nodes of the RRT and the path to the goal. The ROS 2 nodes are currently in development. The nodes can subscribe to topics for map data, marker obstacles, and can be launched with rrt2Dlaunch.xml and rrt3Dlaunch.xml, respectively. + +## Installation +### Dependencies +* ROS 2 Iron +* Python 3.5+ +* numpy 1.13.3+ +### Building +Clone the repository into your ROS 2 workspace and build with colcon build. + +## Usage +### ROS 2 Nodes +#### rrt2D +rrt2D is a ROS 2 node that implements the RRT algorithm in 2D. It can be launched with the rrt2Dlaunch.xml file. The node subscribes to the /occupancy_grid topic for map data and the /obstacle_markers_2D topic for marker obstacles. The node publishes the nodes of the RRT to the /rrt_markers topic and the path to the goal to the /rrt_path topic. +#### rrt3D +rrt3D is a ROS 2 node that implements the RRT algorithm in 3D. It can be launched with the rrt3Dlaunch.xml file. The node subscribes to the /occupancy_grid topic for map data and the /obstacle_markers_3D topic for marker obstacles. The node publishes the nodes of the RRT to the /rrt_markers topic and the path to the goal to the /rrt_path topic. ## Authors and Contributors Author: David Dorf