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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 [email protected].

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. The important objects include:

• VoxelMap.msg: ROS msg that represents a voxel grid map
• 'Trajectory.msg': ROS msg that represents a polynomial trajectory
• 'Trajectories.msg': ROS msg that represents a group of trajectories The corresponding Rviz plugins will be compiled and added to user's current workspace.