RRT* alternative planner

.github/thirdparty.repos

@@ -11,4 +11,7 @@ repositories:
     type: git
     url: https://github.com/kiko2r/navigation2.git
     version: nav2_msgs
-
+  ThirdParty/yaets:
+    type: git
+    url: https://github.com/fmrico/yaets.git
+    version: rolling

.github/workflows/rolling.yaml

@@ -28,24 +28,22 @@ jobs:
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.3
         with:
-          package-name: easynav_gridmap_maps_manager
+          package-name: easynav_gridmap_maps_manager easynav_gridmap_astar_planner easynav_gridmap_rrtstar_planner
           target-ros2-distro: rolling
           vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
-          skip-test: true
           colcon-defaults: |
             {
-              "build": {
-                "packages-up-to": true,
-                  "mixin": ["coverage-gcc"]
+              "test": {
+                "parallel-workers" : 1
               }
             }
+          colcon-mixin-name: coverage-gcc
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-
       - name: Codecov
         uses: codecov/codecov-action@v5.4.0
         with:
           files: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
           # yml: ./codecov.yml
-          fail_ci_if_error: false
+          fail_ci_if_error: false

easynav_gridmap_rrtstar_planner/CMakeLists.txt

@@ -0,0 +1,76 @@
+cmake_minimum_required(VERSION 3.20)
+project(easynav_gridmap_rrtstar_planner)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+find_package(ament_cmake REQUIRED)
+find_package(easynav_common REQUIRED)
+find_package(easynav_core REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(grid_map_ros REQUIRED)
+find_package(grid_map_msgs REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+  src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp
+  src/easynav_gridmap_rrtstar_planner/KDTree.cpp
+)
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  easynav_common::easynav_common
+  easynav_core::easynav_core
+  pluginlib::pluginlib
+  grid_map_ros::grid_map_ros
+  ${nav_msgs_TARGETS}
+  ${grid_map_msgs_TARGETS}
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+install(TARGETS
+  ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  # add_subdirectory(tests)
+endif()
+
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(export_${PROJECT_NAME})
+
+# Register the planning plugins
+pluginlib_export_plugin_description_file(easynav_core easynav_gridmap_rrtstar_planner_plugins.xml)
+
+ament_export_dependencies(
+  easynav_common
+  easynav_core
+  easynav_simple_common
+  pluginlib
+  nav_msgs
+  grid_map_ros
+  grid_map_msgs
+)
+ament_package()

easynav_gridmap_rrtstar_planner/easynav_gridmap_rrtstar_planner_plugins.xml

@@ -0,0 +1,9 @@
+<class_libraries>
+  <library path="easynav_gridmap_rrtstar_planner">
+    <class name="easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner"  type="easynav::GridMapRRTStarPlanner" base_class_type="easynav::PlannerMethodBase">
+      <description>
+      A implementation for the RRT* path planner.
+      </description>
+    </class>
+  </library>
+</class_libraries>