MPL ROS Wrapper

This project containerizes the MPL ROS package for planning trajectories calculated using a search-based planner for quadrotors flying in an obstacle-cluttered environments. MPL uses the results of lower dimensional search of the environments as heuristics for hierarchical planning. Melodic port is not currently working.

Credits: Heavily reliant on Motion Primitive Library developed by Sikang Liu

Paper: Search-based Motion Planning for Aggressive Flight in SE(3)

Setup Instructions

Compiled package is available with this repo if you want to directly use it.

Prerequisites

• Docker installed on your system
• Windows X server for display forwarding on Windows OS (I used VcXsrv)

Clone the Repository with submodule

git clone --recursive https://github.com/adithom/mpl_ros_container.git

Build Docker Image

docker build -t mpl_ros_image .

The maps directory should contain the STL files and the start and end points in a CSV (reference stl_to_traj.sh)

docker run -it --rm  -v /home/user/maps:/root/maps -v /home/user/output:/root/output mpl_ros_image

roscore &
cd ./src/mpl_ros/mpl_test_node/scripts
chmod +x stl_to_traj.sh
./stl_to_traj.sh