Jps3d

This repository implements 3D Jump Point Search (JPS) for ROS environments.

JPS excels at fast pathfinding in sparse grids. To enhance usability, I extracted the algorithm from jps3d and reorganized the package to be compatible with ROS1. Additionally, I revamped the interfaces to make it plug-and-play for any application.

Quick Start

Step 1: Download the dependencies:

sudo apt update
sudo apt install ros-$ROS_DISTRO-octomap
sudo apt install ros-$ROS_DISTRO-octomap-server
sudo apt install ros-$ROS_DISTRO-pcl-ros

Step 2: Initialize the repository and compile:

git clone https://github.com/Dwl2021/Jps3d.git
cd Jps3d
catkin_make

Step 3: Run the main program:

./run.sh

Parameters

Set start and goal

Modify in src/plan_manage/launch/example.launch

<param name="start_x" value="0" />
<param name="start_y" value="0" />
<param name="start_z" value="1" />
<param name="goal_x" value="30" />
<param name="goal_y" value="10" />
<param name="goal_z" value="1" />

Path search parameters

Modify in src/plan_manage/launch/jps3d.xml

<launch>
  <!-- map -->
  <param name="map/x_size" value="100" />
  <param name="map/y_size" value="100" />
  <param name="map/z_size" value="2" />
  <param name="map/origin_x" value="-50" />
  <param name="map/origin_y" value="-50" />
  <param name="map/origin_z" value="0" />
  <param name="map/resolution" value="0.2" />
  <param name="map/world_frame_id" value="world" />

  <!-- jps -->
  <param name="world_frame_id" value="world" type="string" />
  <param name="jps/resolution" value="0.1" type="double" />
  <param name="jps/lambda_heu" value="1.0" type="double" />
  <param name="jps/allocate_num" value="500000" type="double" />
</launch>

Point cloud map

Modify in src/map_pcl/pcd and if you want to make your own map, more details can be found in src/map_pcl/pcd/map_generation.txt.

Or if you want to use the existing point cloud, you can change your point cloud map topic to be /global_map.

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