SBAMP

Sampling Based Adaptive Motion Planning

Steps to run:

Note: Make sure you are at the correct location as given by the text before $

git clone --recurse-submodules https://github.com/Shreyas0812/SBAMP.git

/SBAMP/src/f1tenth_gym_ros/f1tenth_gym$ pip install -e .

$ cd SBAMP

To Launch the Roboracer Simulator

$ source /opt/ros/humble/setup.bash
$ colcon build
$ source install/local_setup.bash
$ ros2 launch f1tenth_gym_ros gym_bridge_launch.py

/SBAMP/src/sbamp/scripts$ chmod +x sbamp_node.py 

To Launch SBAMP:

/SBAMP$ colcon build
/SBAMP$ source install/local_setup.bash 
/SBAMP$ source install/setup.bash 
/SBAMP$ ros2 launch sbamp sbamp.launch.py 

If there is an error running any of the above commands, run this and try again:

/SBAMP$ rosdep install --from-paths src -y --ignore-src

Visualization Node:

/SBAMP/src/sbamp/scripts$ chmod +x visualization_node.py 

Other Launch Options:

To run with visualization:

/SBAMP$ ros2 launch sbamp sbamp_visualization.launch.py 

To run without visualization:

/SBAMP$ ros2 launch sbamp sbamp.launch.py 

To run only rrt:

/SBAMP$ ros2 launch sbamp only_rrt.launch.py 

Video - Simulation:

rrt_pertubation.mp4

Poster: