A global planner for ROS based on Jump Point Search algorithm.

• How does JPS work?

• This plugin makes use of jps3d library

• Author: Emiliano Borghi

The easiest way to test this planner is using the included Dev Container:

1. Open this project in VS Code
2. Install the "Remote - Containers" extension
3. Press F1 → "Dev Containers: Reopen in Container"
4. Wait for the container to build and the workspace to compile
5. Run the demo:

   roslaunch jps_global_planner demo.launch

6. In RViz, use the "2D Nav Goal" tool to set navigation goals

See demo/README.md for more details.

/catkin_ws/src $ git clone https://github.com/KumarRobotics/jps3d.git

cd /catkin_ws && catkin_make_isolated --install --install-space /opt/ros/$ROS_DISTRO -DCMAKE_BUILD_TYPE=Release

To buid this ROS package, just compile it normally with catkin_make.

Create a planner parameter file for move_base with this information:

base_global_planner: "jps/JumpPointSearchROS"

JumpPointSearchROS:
  debug: true

• Build move_base from source

• Install gdb:

sudo apt-get install -y gdb

• Compile the workspace with debug symbols:

catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo

• Execute move_base with this plugin and follow these steps to use GDB.

• Add a breakpoint (Shift + Insert to paste the following code):

break /catkin_ws/src/jps_global_planner/src/jps_ros.cpp:180

GDB Cheat sheet

rosrun jps_global_planner test_jps_global_planner `rospack find jps_global_planner`/test/data/corridor.yaml