phi_p3dx_planning

This repository contains ROS2 packages for motion planning with the Pioneer P3-DX robot in different environments: Gazebo simulation (3D), MobileSim (2D), and physical robot.

Overview

The phi_p3dx_planning package provides:

• Planning nodes: Path planning implementations for navigation and obstacle avoidance.
• Multi-platform compatibility: Works in Gazebo, MobileSim, and physical robots.
• Educational examples: Commented code in Python and C++ for robotics students.

Package Structure

• scripts/: Python scripts (e.g., planning_example.py).
• phi_p3dx_planning/: Python base class
• src/: C++ code (e.g., planning_example.cpp, planning_node.cpp).
• include/: C++ headers (e.g., planning_node.hpp).
• launch/: Launch files for different environments.
• config/: Configurations (e.g., RViz, SLAM, parameters).

Prerequisites

• ROS2 Humble (or compatible).
• Gazebo (for 3D simulation).
• MobileSim (for 2D simulation, if available).
• Dependencies: rclcpp, geometry_msgs, sensor_msgs, nav_msgs, tf2, visualization_msgs, ros_gz_sim, ros_gz_bridge.

Installation

1. Clone the repository into your ROS2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/phir2-lab/phi_p3dx_planning.git

2. Build the package:

   cd ~/ros2_ws
   colcon build --packages-select phi_p3dx_planning
   source install/setup.bash

Usage

Gazebo Simulation (3D)

1. Launch the simulation:

   ros2 launch phi_p3dx_planning bringup_gazebo.launch.py map_name:=obstacles

2. Run the planning node (Python):

   ros2 run phi_p3dx_planning planning_example_py

   Or in C++:

   ros2 run phi_p3dx_planning planning_example_cpp

3. In RViz:

   • Use "2D Nav Goal" or custom topics to send goals.

MobileSim Simulation (2D)

1. Launch the simulation:

   ros2 launch phi_p3dx_planning bringup_mobilesim.launch.py map_name:=obstacles

2. Run the planning node as above.

Real Robot

1. Connect the Pioneer P3-DX robot.

2. Launch the system:

   ros2 launch phi_p3dx_planning bringup_robot.launch.py

3. Run the planning node.

Alternative Branches

• mobilesim-only: A version without Gazebo support, focused only on MobileSim (2D) and real robot navigation. This branch removes Gazebo dependencies and launch files for users who prefer a simpler setup without 3D simulation.

  To use this branch:

  git checkout mobilesim-only

License

This project is distributed under the Apache License 2.0. See the LICENSE file for details.