Point-to-point cubic trajectories connecting pairs of randomly generated points in ROS:

ROS package that automatically generates point-to-point cubic trajectories connecting pairs of randomly generated points. After running a single launch file you should be able see different random trajectories appearing on the rqt_plot GUI (i.e. a different set of trajectories every 20 seconds).

To run the package:

• Download the package into your catkin workspace, if you do not have a catkin workspace, follow the following link

• From your catkin workspace:

  catkin_make

• After your workspace is ready, you need to make all of the nodes executable, run the following comands from the "scripts" folder containing all the nodes

  chmod +x plot_cubic_traj.py
  chmod +x points_generator.py
  chmod +x compute_cubic_coeffs.py
  chmod +x plot_cubic_traj.py

• You can now launch the package by running:

  roslaunch AR_week5_test cubic_traj_gen.launch
  

• After 20 seconds, if you run:

  rqt_graph
  

  You should be able to see the visual representation of how the package works:

  

• To visulise the trajectories, run: (don't forget to add position_trajectory, velocity_trajectory and acceleration_trajectory topics in the GUI)

• rqt_plot
  

List of Dependencies:

• python 2.7
• catkin
• ros-kinetic
• rqt
• NumPy

Everything else you need to know is in the comments.

Star, fork, do your thing.