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Welcome to the mpl_ros wiki!

This repo provides a full pipeline of planning with ROS using motion_primitive_library, including generate a map, set up params, user-friendly planning interface. To keep things clean and simple, we write down some basic introductions on this wiki page, for more information please contact the package maintainer at sikang@seas.upenn.edu.

motion_primitive_library is a search-based planning package designed at University of Pennsylvania for differential flat systems as multi-rotor helicopters. It has been used in vast planning missions in DARPA Fast Lightweight Autonomy by team FALCON from UPenn. A glimpse of successful flights can be found in DARPA released video, more video clips will be published later this year.

In mpl_ros package, we add the interface between motion_primitive_library and ROS.

planning_ros_msgs contains all the ROS messages that are useful for debugging and visualization. Three important ROS messages:

• VoxelMap.msg: voxel grid map
• Trajectory.msg: the polynomial trajectory
• PrimitiveArray.msg: the array of unordered primitives

planning_ros_utils has four subdirectories including the Rviz plugins for ROS messages in planning_ros_msgs. The corresponding Rviz plugins will be added automatically to user's current workspace after installation.

mpl_test_node includes test code for demonstrating the planning performance.