Gui-PathPlanners

It helps anyone see paths drawn from different path planners and also tune the parameters

Getting Started

Pre-requisite

• python 2
• PyQt4
• Ros (Jade)

Installing

1. Install PyQt4 sudo apt-get install python-qt4
2. Install Ros(Jade)
3. Download/clone this repository

Running

1. Go in the main folder of repo
2. run catkin_make
3. then source packages by running source devel/setup.bash
4. open 2 new terminals(2nd and 3rd terminal respectively) and repeat step 3 for 2nd terminal
5. run roscore in the 3rd terminal
6. now run rosrun gui_path gui in 2nd terminal
7. Go to src folder of gui_path and run python gui_path.py

Demo Screenshot

You will get this window.

Working further

1. select any rrt from rrt menu in top left corner (for now only rrt-connect has been implemented)
2. select start point and end point by either clicking on window or by writing coordinates on text boxes
3. give different parameters(max_iter,bias,step_size)
4. click on send data then update path
5. you are done. you can repeat the steps(2 to 4) with changing paramters and input.

planner screenshot