A trajectory optimization-based path planning app for FRC.
HelixNavigator is compatible with FRC swerve drive robots only. The app generates json trajectories which can be followed by the a trajectory follower in the robot code.
HelixNavigator is backed by the TrajoptLib, a C++ library for generating time-optimal trajectories.
You can download the latest binaries on Releases.
Use your system's package manager to install the HelixNavigator-X.X.X-linux-x64.deb artifact.
Download the HelixNavigator-X.X.X-macOS-x64.zip artifact. Extract it and place in the /Applications directory.
Since the app doesn't allow trajectory generation in windows, you should run it in WSL instead.
Install Ubuntu WSL on your Windows machine.
Next, ensure you have GUI support enabled, following this tutorial.
Open an Ubuntu WSL terminal and install HelixNavigator (this is using v1.0.1, but you can replace with any version):
wget https://github.com/TripleHelixProgramming/HelixNavigator/releases/download/v1.0.1/helixnavigator_1.0.1-1_amd64.deb
sudo dpkg -i helixnavigator_1.0.1-1_amd64.deb
After it installs, you can run /opt/helixnavigator/bin/HelixNavigator to open the app.
DISCLAIMER: The Windows distribution does not support generation of trajectories. This is an ongoing issue which will be fixed in the future. For now, you can run the app in WSL, see above.
Download the HelixNavigator-X.X.X-windows-x64.msi artifact and install it.
First, clone the repo in your working directory:
git clone https://github.com/TripleHelixProgramming/HelixNavigator.git
If on Windows, replace ./gradlew with .\gradlew.bat.
To build:
./gradlew build -PmvnUsername=YOUR_USERNAME -PmvnPassword=YOUR_GITHUB_TOKEN
To run:
./gradlew run
Run the following to build a .deb, .dmg, or .msi package:
./gradlew jpackage