planner

D* lite for global planning and A* for local planning

Installation

1. Create ROS2 Workspace

mkdir ~/planner_ws
cd ~/planner_ws
mkdir src
cd src

2. Clone Repository

git clone --depth 1 https://github.com/Murdism/planner.git .

3. Build and Source

cd ~/planner_ws
colcon build
source install/setup.bash

Usage

Running Individual Nodes

**Note To run planners seperatly

Global Node

ros2 run planner global_planner 

Local Node

ros2 run planner local_planner