# ROS_RRT

**Repository Path**: qijianyou/ROS_RRT

## Basic Information

- **Project Name**: ROS_RRT
- **Description**: RRT, RRT*,RRT connect
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 2
- **Created**: 2021-12-13
- **Last Updated**: 2025-03-21

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ROS_RRT
## How to use?
First create your workspace and enter it:
``` shell
mkdir rrt_ws/src
cd ~/rrt_ws/src
```
then clone it:
``` shell
git clone https://github.com/wrld/ROS_RRT.git
```
then make it:
``` shell
cd ~/rrt_ws
catkin_make
source devel/setup.bash
```
then launch it:
``` shell
roslaunch nav_sim myrobot_world.launch 
roslaunch nav_sim move_base.launch
```
pick the goal point, and then you will see the simulation.

## Use different algorithm
``` shell
vim nav_sim2/cfg/new.yaml
```
Change the value of **choice** to change the method:
- 0---rrt based on probability
- 1---rrt connect
- 2---rrt*

Change the value of **gravity** to set if using gravity of the goal point:
- 0---no
- 1---yes

Change the value of **smooth** to set if smooth the road:
- 0---no
- 1---yes

and more parameters to change the steps or probability.