MIGHTY: Hermite Spline-based Efficient Trajectory Planning

Submitted to the IEEE Robotics and Automation Letters (RA-L)

Trajectory	Forest

Dynamic Obstacles	Long Flight

Fast Flight 1	Fast Flight 2

Dynamic Env 1	Dynamic Env 2

Paper

Video

The full video is available https://youtu.be/Pvb-VPUdLvg.

Interactive Demo

If you are interested in an interactive demo of MIGHTY, please switch to the interactive_demo branch [https://github.com/mit-acl/mighty/tree/interactive_demo] by running:

git checkout interactive_demo

and follow the setup instructions in the README of that branch.

Fork

Since you might want to use interactive demos, when you fork this repository, please make sure to also include the interactive_demo branch by unselecting the "Copy the main branch only" option.

Setup

MIGHTY has been tested on both Docker and native installations on Ubuntu 22.04 with ROS 2 Humble.

Use Docker (Recommended)

1. Install Docker:
   Follow the official Docker installation guide for Ubuntu.

2. Clone the Repository and Navigate to the Docker Folder:

   mkdir -p ~/code/ws/src
   cd ~/code/ws/src
   git clone https://github.com/mit-acl/mighty.git
   cd src/mighty/docker

3. BUILD:

   • Navigate to the docker folder in your mighty repo (eg. cd ~/code/ws/src/mighty/docker/) and run this

     make build

4. Run Simulation

   • Run the following command to start the simulation:

     make run

Useful Docker Commands

• Remove all caches:

  docker builder prune

• Remove all containers:

  docker rm $(docker ps -a -q)

• Remove all images:

  docker rmi $(docker images -q)

Native Installation

1. Clone the Repository and Navigate to the Workspace Folder:

   mkdir -p ~/code/ws
   cd ~/code/ws
   git clone https://github.com/mit-acl/mighty.git
   cd mighty

2. Run the Setup Script:

   ./setup.sh

   This script will first install ROS 2 Humble, then MIGHTY and its dependencies. Please note that this script modifies your ~/.bashrc file.

3. Run the Simulation Run the simulation. You might need to change the path to setup.bash to its absolute path (eg. /home/kkondo/code/ws/install/setup.bash).

   cd ~/code/mighty_ws && ./src/mighty/launch/run_mighty_sim.sh ~/code/mighty_ws/install/setup.bash

Notes

Goal Command Example

• ros2 topic pub /NX01/term_goal geometry_msgs/msg/PoseStamped "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, pose: {position: {x: 305.0, y: 0.0, z: 3.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}" --once