SBPL Lattice Planner

This tutorial covers implementing the Search Based Planning Lab’s Lattice Planner in ROS indigo

What is the problem to install SBPL_lattice_planner?

When you try the official way to install sbpl_lattice_planner, you’ll get some below error because navigation_experimental package which include sbpl_lattice_planner is not being maintained in the ROS Indigo version and has some compatibility problem with recent version.

git clone https://github.com/ros-planning/navigation_experimental.git

-- +++ processing catkin package: 'assisted_teleop'
-- ==> add_subdirectory(navigation_experimental/assisted_teleop)
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at navigation_experimental/assisted_teleop/CMakeLists.txt:25 (find_package):
  By not providing "FindEigen.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Eigen", but
  CMake did not find one.

How to resolve the build error

So, we need other way to get around this error, there is other sbpl_lattice_planner maintained by Technische University Darmstadt.

git clone https://github.com/tu-darmstadt-ros-pkg/sbpl_lattice_planner.git

Catkin_make would succeed to build the sbpl_lattice_planner. If not, there is some package dependency problem with regards to the SBPL, you can install SBPL library by apt-get.

sudo apt-get install ros-indigo-sbpl

Furthure Reading

  1. Navigation Experimental Git: https://github.com/ros-planning/navigation_experimental
  2. SBPL_lattice_planner in tu-darmstadt-ros-pkg Git: https://github.com/tu-darmstadt-ros-pkg/sbpl_lattice_planner