<html><head></head><body style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; color: rgb(0, 0, 0); font-size: 14px; "><div style="font-family: Arial, sans-serif; ">We have updated the tutorial on adding a global path planner as plugin in ROS. We have added testing using RVIZ.</div><div style="font-family: Arial, sans-serif; ">The general tutorial is available on <a href="http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS">ROS Wiki site in this link</a></div><div style="font-family: Arial, sans-serif; "><br></div><div style="font-family: Arial, sans-serif; ">A more specific tutorial that shows how to add a real genetic algorithm planner is presented in <a href="http://www.iroboapp.org/index.php?title=Adding_Genetic_Algorithm_Global_Path_Planner_As_Plugin_in_ROS">this tutorial page</a>. </div><div style="font-family: Arial, sans-serif; "><br></div><font face="Arial,sans-serif">It is possible to work with other path planning algorithms. We implemented the </font><a href="https://code.google.com/p/ipath/" style="font-family: Arial, sans-serif; ">iPath C++ library</a><font face="Arial,sans-serif"> that provides the implementation of several path planners including A*, GA, local search and some relaxed version of A* and Dijkstra (much faster that A* and Dijkstra). More will be added soon on Google Code. </font><div style="font-family: Arial, sans-serif; "><br></div><div style="font-family: Arial, sans-serif; ">The <a href="https://code.google.com/p/ipath/">iPath library</a> is available as open source on Google Code under the GNU GPL v3 license. The library was extensively tested under different maps including those provided <a href="http://www.movingai.com/benchmarks/">in this benchmark</a> and other <a href="http://www.iroboapp.org/index.php?title=Maps">randomly generated maps</a>. </div><div style="font-family: Arial, sans-serif; ">A tutorial on how to use iPath simulator is available <a href="https://code.google.com/p/ipath/">on this link</a>. </div><div style="font-family: Arial, sans-serif; "><br></div><div style="font-family: Arial, sans-serif; ">Credits particularly go to Maram Al-Ajlan (Master Student at Al-Imam Mohamed bin Saud University, Saudi Arabia) and Imen Chaari (PhD student at Manouba University Tunisia) for their efforts in implementing the algorithms and integration to ROS. </div><div style="font-family: Arial, sans-serif; "><br></div><div style="font-family: Arial, sans-serif; ">If you have any suggestions or questions about tools or tutorials, please contact me. </div><div style="font-family: Arial, sans-serif; "><br></div><div style="font-family: Arial, sans-serif; ">Anis</div><div style="font-family: Arial, sans-serif; "><br></div><div><div><div><font class="Apple-style-span" color="#000000"><font class="Apple-style-span" face="Courier"><b>------------------------------------------------------------</b></font></font></div><div><font class="Apple-style-span" color="#000000" face="Courier"><b>Anis Koubaa</b></font></div><div><font face="Courier"><font class="Apple-style-span" color="#000000">Associate Professor, </font>Prince Sultan University, Saudi Arabia</font></div><div><font face="Courier">Research Associate, CISTER Research Unit, Portugal </font></div><div><font face="Courier">http://www.coins-lab.org</font></div><div><font face="Courier">http://www.dei.isep.ipp.pt/~akoubaa/</font></div><div><font face="Courier">------------------------------------------------------------</font></div></div></div></body></html>