This is the Motion Planning Final Project created by Yukyu Chan and Hanlong Chen.

The simulation is built on top of Dawei Zhang's Geomagic Touch teleoperator project: Haptic-shared-control:GitHub Pages. The haptic-shared-control project provided us with the platform to simulate the environment we would later build our algorithm on.

In order to run the simulation: Open the Geomagic Touch interface:

roslaunch geomagic_control geomagic.launch

Create the environmnt by running:

rosrun using_markers using_markers
rosrun using_markers static_obstacles

Run the manager:

rosrun planner manager_v2.py

Run RRT*:

rosrun planner rrt_star

Run Potential field:

rosrun planner potential_field.py