For setup help with the libraries below, see the Tutorials page. The most maintained software is hosted on the lab’s GitHub organisation.
Core Libraries
SBPL — Search-Based Planning Library
The core planning library, written in C++ with no required dependencies. Implements ARA*, AD*, Anytime D*, R*, weighted A*, SIPP, Experience Graphs, and lattice-based planners.
- Repository: github.com/sbpl/sbpl
- ROS Wiki: ros.org/wiki/sbpl
SBPL Geometry Utilities
Geometry helpers used across SBPL packages.
- Repository: github.com/sbpl/sbpl_geometry_utils
ROS Planners and Plugins
SBPL MoveIt! Plugin
Generic SBPL planner plugin for MoveIt!.
- Core: aurone/moveit_planners_sbpl
- Manipulation: aurone/sbpl_manipulation
- Leatherman utilities: aurone/leatherman
- PR2 config: aurone/pr2_sbpl_interface_config
Lattice Planner (3-D Navigation)
A global planner for move_base based on motion primitives.
- ROS source: ros-planning/navigation_experimental
- ROS Wiki: ros.org/wiki/sbpl_lattice_planner
- Paper: Likhachev & Ferguson, RSS 2008
3-D Navigation with Full-Body Collision Checking (PR2)
A move_base global planner that performs full-body collision
checks. PR2 specific.
- ROS Wiki: ros.org/wiki/sbpl_3dnav_planner
Single-Arm Planning
Can be used with the ROS arm_navigation stack (move_arm). PR2
support plus an experimental “Any Robot” branch.
- ROS Wiki: ros.org/wiki/sbpl_arm_planner
- Papers: ICRA 2010, ICRA 2011
Dual-Arm Planning (PR2)
- Paper: ICRA 2012
Navigation in Dynamic Environments (SIPP)
- ROS Wiki: ros.org/wiki/sbpl_dynamic_env
- Papers: ICRA 2011, AAAI 2011
Cart Planning
- ROS Wiki: ros.org/wiki/sbpl_cart_planner
Experience Graphs (E-Graphs)
E-Graphs are built from experience (previously planned paths or user demonstrations). The planner reuses parts of these prior paths to plan faster.
Utilities
PViz
PR2 visualisation library. With one function call you can visualise the PR2 in RViz with any joint configuration; the original meshes are drawn as visualisation markers.
- Repository: bcohen/pviz
See also: Old Software — historical SVN/Mercurial links and ROS Diamondback/Electric/Fuerte branches from the sbpl.net era.