ROS wrapper for CL-CBS with some extra functionality like parameter reconfiguration and the ability to drive through multiple waypoints. Follows the structure and format of MuSHR Coordination.

If you don't already have a full installation of ROS, follow the instructions at https://wiki.ros.org/Installation to install ROS on your system.

Install OMPL:

sudo apt-get install libompl-dev

Clone this repo and build:

cd ~/catkin_ws/src/  
git clone --recurse-submodules https://github.com/arnavthareja/clcbs_ros.git
cd ~/catkin_ws
catkin_make

If you want to launch the map server in launch/init_clcbs.launch, install the MuSHR platform. To disable the map server, edit the map_server arg in launch/init_clcbs.launch to have a value of 0.

Open 3 terminals.

Terminal 1:

roscore

Terminal 2:

roslaunch clcbs_ros clcbs_ros.launch

Terminal 3:

roslaunch clcbs_ros init_clcbs.launch

In a new terminal:

rviz -d ~/catkin_ws/src/clcbs_ros/rviz/clcbs.rviz

Make sure to start rviz before launching init_clcbs.launch.

The initial position of car_n. car_n's name is taken from the config file used in both clcbs_ros.launch and init_clcbs.launch.

A list of obstacles in the environment to avoid.

The goal poses for the cars to drive to.

The navigation plan outputted for car_n. car_n's name is taken from the config file used in both clcbs_ros.launch and init_clcbs.launch.

Markers for visualization of car_n's inputted goal poses. car_n's name is taken from the config file used in both clcbs_ros.launch and init_clcbs.launch.

The boundary of the environment for visualization.

std_msgs/Header Header
float64 scale
float64 minx
float64 miny
float64 maxx
float64 maxy
geometry_msgs/PoseArray[] goals