In the ROS platform to achieve RRT algorithm, you can use rviz simulation, easy to develop algorithms.

path_planning-master
path_planning-master\README.md
path_planning-master\path_planning
path_planning-master\path_planning\CMakeLists.txt
path_planning-master\path_planning\include
path_planning-master\path_planning\include\path_planning
path_planning-master\path_planning\include\path_planning\obstacles.h
path_planning-master\path_planning\include\path_planning\rrt.h
path_planning-master\path_planning\package.xml
path_planning-master\path_planning\src
path_planning-master\path_planning\src\environment.cpp
path_planning-master\path_planning\src\obstacles.cpp
path_planning-master\path_planning\src\rrt.cpp
path_planning-master\path_planning\src\rrt_node.cpp

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