Remove fw_planning statespace

Use upstream owen statespace

F

Use upstream owen statespace

F

F

F

Author: Jaeyoung-Lim

README.md

@@ -62,7 +62,7 @@ docker run --network=host -it -v $(pwd):/root/ros2_ws/src/ethz-asl/terrain-navig
 ## Running an example of the planner
 In order to run the examples, build the `terrain_planner_benchmark` package.
 ```
-colcon build --packages-up-to terrain_planner_benchmark
+colcon build --packages-up-to terrain_planner_benchmark --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
 ```
 Run a simple planning example:
 ```

terrain_navigation_ros/include/terrain_navigation_ros/terrain_planner.h

@@ -242,7 +242,7 @@ class TerrainPlanner : public rclcpp::Node {
 
   std::shared_ptr<TerrainMap> terrain_map_;
 
-  std::shared_ptr<fw_planning::spaces::DubinsAirplaneStateSpace> dubins_state_space_;
+  std::shared_ptr<ompl::base::OwenStateSpace> dubins_state_space_;
   // std::shared_ptr<ViewUtilityMap> viewutility_map_;
   std::shared_ptr<TerrainOmplRrt> global_planner_;
   std::shared_ptr<Profiler> planner_profiler_;

terrain_navigation_ros/src/terrain_planner.cpp

@@ -163,7 +163,7 @@ TerrainPlanner::TerrainPlanner() : Node("terrain_planner") {
   terrain_map_ = std::make_shared<TerrainMap>();
 
   // Initialize Dubins state space
-  dubins_state_space_ = std::make_shared<fw_planning::spaces::DubinsAirplaneStateSpace>(goal_radius_);
+  dubins_state_space_ = std::make_shared<ompl::base::OwenStateSpace>(goal_radius_);
   global_planner_ = std::make_shared<TerrainOmplRrt>(ompl::base::StateSpacePtr(dubins_state_space_));
   global_planner_->setMap(terrain_map_);
   global_planner_->setAltitudeLimits(max_elevation_, min_elevation_);

terrain_planner/CMakeLists.txt

@@ -44,8 +44,6 @@ pkg_check_modules(ODE REQUIRED ode)
 # Libraries
 add_library(${PROJECT_NAME}
   src/common.cpp
-  src/DubinsAirplane.cpp
-  src/DubinsPath.cpp
   src/terrain_ompl_rrt.cpp
   src/terrain_ompl.cpp
   src/visualization.cpp