# RRT Kinodynamic algorithm

**URL:** <https://discourse.openrobotics.org/t/rrt-kinodynamic-algorithm/15063>\
**Category:** Projects\
**Tags:** kinetic, rviz, ros\_control\
**Created:** [June 25, 2020, 4:24pm UTC](https://discourse.openrobotics.org/t/rrt-kinodynamic-algorithm/15063 "2020-06-25T16:24:44Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![Adwait\_Naik](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/adwait_naik/32/4260_2.png) [@Adwait\_Naik](https://discourse.openrobotics.org/u/Adwait_Naik)\
**Post date:** [June 25, 2020, 4:24pm UTC](https://discourse.openrobotics.org/t/rrt-kinodynamic-algorithm/15063/1 "2020-06-25T16:24:44Z")

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Hello folks,

I worked on this interesting RRT kinodynamic algorithm during my internship. I would like to share it. The link for the repository is given below.  
[https://github.com/addy1997/Kinodynamic-Fast\_RRT-ROS](https://github.com/addy1997/Kinodynamic-Fast_RRT-ROS)

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**Author:** ![smac](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/smac/32/6763_2.png) [@smac](https://discourse.openrobotics.org/u/smac)\
**Post date:** [June 25, 2020, 5:29pm UTC](https://discourse.openrobotics.org/t/rrt-kinodynamic-algorithm/15063/2 "2020-06-25T17:29:32Z")

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Hi!

Always good to see people working on new planners for ROS! But I had a question: where’s the kinodynamic planner? I took a look at your repo and I don’t see anywhere where it computes or constrains itself to robot dynamics / kinematics.

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**Author:** ![Adwait\_Naik](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/adwait_naik/32/4260_2.png) [@Adwait\_Naik](https://discourse.openrobotics.org/u/Adwait_Naik)\
**Post date:** [June 25, 2020, 6:21pm UTC](https://discourse.openrobotics.org/t/rrt-kinodynamic-algorithm/15063/3 "2020-06-25T18:21:41Z")

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Hey Steve,  
Thanks for your appreciation. Actually, the planner file is missing from the repository. I will be adding it soon. Meanwhile, please have a look at this video of my algorithm in action.

[![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/b/b511b66a980e9e63895bc7a26562f610d085c6fc.jpeg "Motion planning in rviz based on Rapidly exploring random tree.") ](https://www.youtube.com/watch?v=y9wn1XM037M)

Suggestions are always welcome.

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**Author:** ![smac](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/smac/32/6763_2.png) [@smac](https://discourse.openrobotics.org/u/smac)\
**Post date:** [June 25, 2020, 7:50pm UTC](https://discourse.openrobotics.org/t/rrt-kinodynamic-algorithm/15063/4 "2020-06-25T19:50:53Z")

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Are you computing velocities at each point in the path or following kinematic constraints on the robot platform?

The video doesn’t appear to also do either of those, required for [kino-dynamic](https://en.wikipedia.org/wiki/Kinodynamic_planning) planning. You may be able to create a RRT planner that is kinodynamic, but an RRT planner is not necessarily a kinodynamic planner without the correct sampling space and computations.