Trotbot

Find scripts in trotbot_ws/src/navigation

Prerequisites:

• ROS Kinetic
• Python catkin-tools

To use this workspace do:

cd trotbot_ws
catkin build
source devel/setup.bash

TODO

• Transfer dynamic parameters from class init to Planning()
• Remove do_rrt()
• Test new RRT code
• Add animation feature to RRT code (just add plt.show() at the end of your script)
• Update los_optimizer
• Using some kind of python collection for storing path (05/11/19)
• Use namedtuple() for coordinates
• Implement adjustable sample_area
• Transform path in odom update
• Modify path_planner to call any type of algorithm
• Make skeleton ROS code for each node
• Write Controller Action server