RoboJackets · N8BWert · Sep 2, 2026 · Sep 3, 2026
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -19,7 +19,6 @@ The first step to contributing is to find an issue. We reccoment searching our i
 - [RoboJackets/robocup-software](https://github.com/RoboJackets/robocup-software)
 - [RoboJackets/robocup-firmware](https://github.com/RoboJackets/robocup-firmware)
 - [RoboJackets/robocup-common](https://github.com/RoboJackets/robocup-common)
-- [RoboJackets/rrt](https://github.com/RoboJackets/rrt)
 - [RoboJackets/robocup-pcb](https://github.com/RoboJackets/robocup-pcb)
 - [RoboJackets/grSim](https://github.com/RoboJackets/grSim) (forked from [grSim](https://github.com/mani-monaj/grSim))
 

diff --git a/docs/source/our_stack.rst b/docs/source/our_stack.rst
@@ -55,15 +55,7 @@ detail can be found in our `firmware repository
 Motion Planning
 ---------------
 Motion planning is about generating a path from a robot's current position and
-orientation (pose) to a goal supplied by gameplay. Starting at the lowest
-level, we use `RRT <https://www.youtube.com/watch?v=Ob3BIJkQJEw>`_, or
-Rapidly exploring Random Trees, for path generation. When the straight line
-path to a goal fails, we utilize the position path generated by RRT (if there
-are no
-obstacles in that straight line why bother with RRT). We have our own RRT
-implementation in `a separate repository <https://github
-.com/RoboJackets/rrt>`_ which we use as a submodule. This
-way others can easily use our RRT implementation if they want.
+orientation (pose) to a goal supplied by gameplay.
 
 But we can't send a path to a robot and expect it to figure it out. We need
 to give our firmware a single velocity command for that instant of planning.

diff --git a/install/setup.bash b/install/setup.bash
diff --git a/install/setup.zsh b/install/setup.zsh
diff --git a/src/rj_param_utils/config/real_params.yaml b/src/rj_param_utils/config/real_params.yaml
@@ -109,13 +109,6 @@
       partial_replan_lead_time: 0.1
       pos_change_threshold: 0.025
       vel_change_threshold: 0.025
-    rrt:
-      enable_debug_drawing: false
-      goal_bias: 0.3
-      max_iterations: 250
-      min_iterations: 0
-      step_size: 0.15
-      waypoint_bias: 0.5
     settle:
       ball_speed_percent_for_dampen: 0.1
       ball_vel_gain: 0.9

diff --git a/src/rj_param_utils/config/sim_params.yaml b/src/rj_param_utils/config/sim_params.yaml
@@ -109,13 +109,6 @@
       partial_replan_lead_time: 0.1
       pos_change_threshold: 0.025
       vel_change_threshold: 0.025
-    rrt:
-      enable_debug_drawing: false
-      goal_bias: 0.3
-      max_iterations: 250
-      min_iterations: 0
-      step_size: 0.15
-      waypoint_bias: 0.5
     settle:
       ball_speed_percent_for_dampen: 0.1
       ball_vel_gain: 0.9

diff --git a/src/rj_param_utils/include/rj_param_utils/planning/planning_params.hpp b/src/rj_param_utils/include/rj_param_utils/planning/planning_params.hpp
@@ -18,13 +18,6 @@ DECLARE_NS_FLOAT64(kPlanningParamModule, replanner, vel_change_threshold);
 DECLARE_NS_FLOAT64(kPlanningParamModule, replanner, partial_replan_lead_time);
 DECLARE_NS_FLOAT64(kPlanningParamModule, replanner, off_path_threshold);
 
-DECLARE_NS_BOOL(kPlanningParamModule, rrt, enable_debug_drawing);
-DECLARE_NS_FLOAT64(kPlanningParamModule, rrt, step_size);
-DECLARE_NS_FLOAT64(kPlanningParamModule, rrt, goal_bias);
-DECLARE_NS_FLOAT64(kPlanningParamModule, rrt, waypoint_bias);
-DECLARE_NS_INT64(kPlanningParamModule, rrt, min_iterations);
-DECLARE_NS_INT64(kPlanningParamModule, rrt, max_iterations);
-
 DECLARE_NS_FLOAT64(kPlanningParamModule, intermediate, min_scale);
 DECLARE_NS_FLOAT64(kPlanningParamModule, intermediate, max_scale);
 DECLARE_NS_FLOAT64(kPlanningParamModule, intermediate, min_angle);

diff --git a/src/rj_param_utils/src/planning/planning_params.cpp b/src/rj_param_utils/src/planning/planning_params.cpp
@@ -29,18 +29,6 @@ DEFINE_NS_FLOAT64(
     "Position error threshold (m), a partial replan will be forced if we are not within this "
     "amount of the planned trajectory.");
 
-DEFINE_NS_BOOL(kPlanningParamModule, rrt, enable_debug_drawing, false,
-               "Whether to enable RRT debug drawing");
-DEFINE_NS_FLOAT64(kPlanningParamModule, rrt, step_size, 0.15, "Step size for RRT (m)");
-DEFINE_NS_FLOAT64(kPlanningParamModule, rrt, goal_bias, 0.3,
-                  "Chance that the RRT will extend directly towards the goal (unitless)");
-DEFINE_NS_FLOAT64(kPlanningParamModule, rrt, waypoint_bias, 0.5,
-                  "Chance that the RRT will extend directly towards a waypoint (unitless)");
-DEFINE_NS_INT64(kPlanningParamModule, rrt, min_iterations, 50,
-                "Minimum number of RRT iterations to run (unused without RRT* enabled)");
-DEFINE_NS_INT64(kPlanningParamModule, rrt, max_iterations, 500,
-                "Maximum number of RRT iterations to run before giving up");
-
 DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, min_scale, 0.5,
                   "Minimum length for intermediate point (m)");
 DEFINE_NS_FLOAT64(kPlanningParamModule, intermediate, max_scale, 1.5,

diff --git a/src/rj_planning/CMakeLists.txt b/src/rj_planning/CMakeLists.txt
@@ -24,7 +24,6 @@ find_package(rj_constants REQUIRED)
 find_package(rj_convert REQUIRED)
 find_package(rj_msgs REQUIRED)
 find_package(rj_param_utils REQUIRED)
-find_package(rj_rrt REQUIRED)
 
 set(RJ_PLANNING_DEPS
   rclcpp
@@ -38,7 +37,6 @@ set(RJ_PLANNING_DEPS
   rj_convert
   rj_msgs
   rj_param_utils
-  rj_rrt
   Flann
 )
 
@@ -73,7 +71,6 @@ set(RJ_PLANNING_SRC
   src/primitives/create_path.cpp
   src/primitives/path_smoothing.cpp
   src/primitives/replanner.cpp
-  src/primitives/rrt_util.cpp
   src/primitives/trapezoidal_motion.cpp
   src/primitives/velocity_profiling.cpp
 
@@ -152,7 +149,6 @@ if(BUILD_TESTING)
     angle_planning_test
     bezier_path_test
     conversion_tests
-    create_path_test
     planner_test
     trajectory_test
     trapezoidal_motion_test

diff --git a/src/rj_planning/include/rj_planning/planners/collect_path_planner.hpp b/src/rj_planning/include/rj_planning/planners/collect_path_planner.hpp
@@ -10,7 +10,6 @@
 #include "rj_planning/primitives/angle_planning.hpp"
 #include "rj_planning/primitives/create_path.hpp"
 #include "rj_planning/primitives/replanner.hpp"
-#include "rj_planning/primitives/rrt_util.hpp"
 
 namespace planning {
 

diff --git a/src/rj_planning/include/rj_planning/planners/escape_obstacles_path_planner.hpp b/src/rj_planning/include/rj_planning/planners/escape_obstacles_path_planner.hpp
@@ -6,15 +6,12 @@
 
 #include <rj_geometry/point.hpp>
 #include <rj_param_utils/planning/planning_params.hpp>
-#include <rj_rrt/Tree.hpp>
 
 #include "rj_planning/plan_request.hpp"
 #include "rj_planning/planners/path_planner.hpp"
 #include "rj_planning/planners/path_target_path_planner.hpp"
 #include "rj_planning/primitives/angle_planning.hpp"
 #include "rj_planning/primitives/create_path.hpp"
-#include "rj_planning/primitives/robo_cup_state_space.hpp"
-#include "rj_planning/primitives/rrt_util.hpp"
 
 class Configuration;
 class ConfigDouble;
@@ -45,10 +42,6 @@ class EscapeObstaclesPathPlanner : public PathPlanner {
 
     Trajectory plan(const PlanRequest& plan_request) override;
 
-    /// Uses an RRT to find a point near to @pt that isn't blocked by obstacles.
-    /// If @prev_pt is give, only uses a newly-found point if it is closer to @pt
-    /// by a configurable threshold.
-    /// @param rrt_logger Optional callback to log the rrt tree after it's built
     static rj_geometry::Point find_non_blocked_goal(rj_geometry::Point pt,
                                                     std::optional<rj_geometry::Point> prev_pt,
                                                     const ObstacleSet& obstacles,

diff --git a/src/rj_planning/include/rj_planning/planners/settle_path_planner.hpp b/src/rj_planning/include/rj_planning/planners/settle_path_planner.hpp
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <algorithm>
 #include <cmath>
 
 #include <spdlog/spdlog.h>
@@ -10,11 +9,6 @@
 #include <rj_constants/constants.hpp>
 
 #include "rj_planning/planners/path_planner.hpp"
-#include "rj_planning/primitives/angle_planning.hpp"
-#include "rj_planning/primitives/create_path.hpp"
-#include "rj_planning/primitives/replanner.hpp"
-#include "rj_planning/primitives/rrt_util.hpp"
-#include "rj_planning/trajectory_utils.hpp"
 
 class Configuration;
 class ConfigDouble;

diff --git a/src/rj_planning/include/rj_planning/primitives/create_path.hpp b/src/rj_planning/include/rj_planning/primitives/create_path.hpp
@@ -10,20 +10,11 @@
 #include <rj_planning/obstacle_set.hpp>
 
 #include "rj_planning/primitives/path_smoothing.hpp"
-#include "rj_planning/primitives/rrt_util.hpp"
 #include "rj_planning/primitives/velocity_profiling.hpp"
 #include "rj_planning/trajectory_utils.hpp"
 
 namespace planning::CreatePath {
 
-/**
- * Generate a smooth path from start to goal avoiding obstacles.
- */
-Trajectory rrt(const LinearMotionInstant& start, const LinearMotionInstant& goal,
-               const MotionConstraints& motion_constraints, RJ::Time start_time,
-               const ObstacleSet& obstacles,
-               const std::vector<rj_geometry::Point>& bias_waypoints = {});
-
 /**
  * Generate a smooth path from start to goal disregarding obstacles.
  */

diff --git a/src/rj_planning/include/rj_planning/primitives/replanner.hpp b/src/rj_planning/include/rj_planning/primitives/replanner.hpp
@@ -15,7 +15,6 @@
 #include "rj_planning/planners/path_planner.hpp"
 #include "rj_planning/primitives/angle_planning.hpp"
 #include "rj_planning/primitives/create_path.hpp"
-#include "rj_planning/primitives/rrt_util.hpp"
 #include "rj_planning/primitives/velocity_profiling.hpp"
 #include "rj_planning/trajectory_utils.hpp"
 

diff --git a/src/rj_planning/include/rj_planning/primitives/robo_cup_state_space.hpp b/src/rj_planning/include/rj_planning/primitives/robo_cup_state_space.hpp
diff --git a/src/rj_planning/include/rj_planning/primitives/rrt_util.hpp b/src/rj_planning/include/rj_planning/primitives/rrt_util.hpp
diff --git a/src/rj_planning/package.xml b/src/rj_planning/package.xml
@@ -20,7 +20,6 @@
   <depend>rj_convert</depend>
   <depend>rj_msgs</depend>
   <depend>rj_param_utils</depend>
-  <depend>rj_rrt</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>