pysbpl

Forked from : https://github.com/poine/pysbpl

Edits Made By: Schmittle

Python3 bindings and utilities for SBPL ( Search Based Planning Library, see https://github.com/sbpl/sbpl ). Just the bindings for ARASTAR and EnvironmentNAVXYTHETALAT.

Install & Run

1. Install SBPL from source.
2. Clone this repo
   git clone https://github.com/schmittlema/pysbpl.git
3. Build. Feel free to remove user to make install system wide
   • For Development: pip install -e . --user
   • For Use: pip install . --user
4. Test by running: python3 examples/run_sbpl_xytheta.py.

If everything worked a visualization should appear

To create new motion primitives

See pysbpl/gen_mprim.py. Run with:
python3 pysbpl/gen_mprim.py

A test.mprim file should be created

Troubleshooting

I properly installed SBPL but pip install is saying it doesnt exist: This is likely a path linking issue. Add the path to libsbpl.so (usually /usr/share/lib) to $LD_LIBRARY_PATH