motion_planner

ROS package 3D motion planner for UAVs VToL. Plan a new trajectory specifying initial and final position using a geometry_msgs::Pose type. Trajectory constraints are used to ensure a maximum velocity/acceleration/jerk.

Get the motion planner

To use the motion_planner package in your ROS system just clone it in your src directory:

$ git clone https://github.com/jocacace/motion_planner.git

And compile the catkin workspace:

$ roscd && cd ..
$ catkin_make

Launch the motion planner

To start the motion planner package you can use the launch file placed into the package directory:

 $ roslaunch motion_planner motion_planner.launch

You can also use this file to set the desired parameters:

• V_max: maximum linear trajectory velocity [m/s]
• A_max: maximum linear acceleration velocity [m/s^2]
• J_max: maximum linear jerk velocity [m/s^3]
• aV_max: maximum angular trajectory velocity [rad/s]
• aA_max: maximum angular acceleration velocity [rad/s^2]
• aJ_max: maximum angular jerk velocity [rad/s^3]

Require a new motion plan

This package servers planning requests with a standard ROS service called /generate_tarjectory:

• Service request:
  • geometry_msgs/Pose p_i: starting point of the trajectory
  • geometry_msgs/Pose p_f: final point of the trajectory
• Service response:
  • trajectory_msgs/JointTrajectory traj: the generated trajectory containing position, velocity and acceleration for x, y, z and yaw