multidim_rrt_planner: A package in rosdistro (Iron)

I developed an official ROS 2 Iron package for efficiently exploring spaces in 3D and 2D.  It can be installed with sudo apt install ros-iron-multidim-rrt-planner. The main program publishes the RRT (Rapidly Exploring Random Tree) nodes and optimal path when called by a ROS service call (/run_rrt), and optionally subscribes to an occupancy grid, obstacle markers, start/goal locations. All mentioned objects are visualized in RViz2. The repository for the package source code is https://github.com/daviddorf2023/multidim_rrt_planner and a C++ version is  athttps://github.com/daviddorf2023/multidim_rrt_cpp.