Thanks to Willow Garage for their support of building the SBPL library!


This library currently contains implementations of the following graph searches:

  • ARA*
  • Anytime D*

It also contains implementations of the following planning domains:

  • 2D (x,y) navigation
  • 3D (x,y,orientation) navigation
  • planar robot arm of variable DOF (from 6 to 20)

The library is structured so that addition of new graph searches and new planning domains should be pretty simple. Feel free to send me any questions you may have (my email is given at my homepage).


Download:

SBPL can be downloaded either:

  • by checking it out: svn co https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/motion_planning/sbpl
  • or (painful option) by downloading it all manually at: https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/motion_planning/sbpl

Usage:

Example for how to use SBPL is in src/test/main.cpp. Please follow the examples carefully - it will save you a lot of debugging time since currently there is no documentation available for the library. The library contains a number of planning problem examples, stored as ascii files. These files (with extension .cfg) should be passed in as arguments into the main function in main.cpp. The files can be found in env_examples directory.

Compilation:

Under windows, SBPL can be compiled using a project inside win32_build/test. Under unix/linux, you either have to create your own makefile, or use "rosmake sbpl". In case of the latter, you need to download the whole ROS package (see http://www.ros.org/wiki/ROS/Installation). If you go this route and do get ROS, then theoretically you don't have to compile anything but SBPL. Just do "rosmake sbpl".

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