ga_global_planner

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ga_global_planner

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This is a genetic algorithm based ROS global path planner plugin for robot global path planning

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# GA Global Path Planner for ROS

![GA_Planner](https://raw.githubusercontent.com/JZX-MY/ga_global_planner/master/assets/GA_Planner.png)

## 1. Introduction

This ROS Global Planner Plugin implements the GA (Genetic Algorithm) path planning algorithm. The examples below demonstrate its usage in dynamic environments:

## 2. How to Use

### (1) Method One: Utilized as a ROS Global Planner Plugin.

You can employ this plugin within the ROS navigation package by configuring the global path planner plugin to `ga_planner/globalMotionPlannerROS` in the launch file where the 'move_base' node is situated. Additionally, load the parameter configuration file `ga_planner.yaml`. An example is provided below:

```bash
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

...
    ...
    ...

<rosparam file="$(find ga_global_planner)/params/ga_planner.yaml" command="load" />

<param name="base_global_planner" value="ga_planner/globalMotionPlannerROS" />

...
    ...
    ...

</node>
```

### (2) Method Two: Employing through the ros_motion_planning library.

In addition to the method described above, which involves using it as an independent ROS global path planner plugin, we also offer an alternative approach. We have integrated the GA global path planner into the ROS-based motion planning library, [ros_motion_planning](https://github.com/ai-winter/ros_motion_planning). You can easily utilize it by setting the 'robot1_global_planner' parameter in the ['user_config.yaml'](https://github.com/ai-winter/ros_motion_planning/blob/master/src/user_config/user_config.yaml) file of this motion planning library to 'ga'. An example is provided below:

```bash
   map: "warehouse"
   world: "warehouse"
   rviz_file: "sim_env.rviz"

robots_config:
     - robot1_type: "turtlebot3_waffle"
       robot1_global_planner: "ga"      
       robot1_local_planner: "dwa"

...
       ...
       ...

plugins:

...
        ...
        ...
    
```

The demonstration of the results is as follows:

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