Cardinal Traversal

Lazy Theta* path planning to Twist ROS Node

ROS 2 node

input:

• nav_msgs::msg::OccupancyGrid weights
• geometry_msgs::msg::PoseStamped current_pose
• geometry_msgs::msg::Pose target_pose

output:

• geometry_msgs::msg::TwistStamped twist

Build instructions

1. Navigate to (or create) your ROS 2 workspace:

• cd /robot_ws

2. Create and go to src directory:

• mkdir src && cd src

3. Clone this repository:

• git clone https://github.com/Cardinal-Space-Mining/Cardinal-Traversal

4. Build from workspace directory:

• cd ../ && colcon build

Todo list:

• Make the actual ros node
• Accept occupancy_grid + poses for path planning
• Accept current_pose + calculated path for trajectory planning
• Make the trajectory planning algorithm
• Maybe make a smarter recalculation strategy?