ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

Because the Turtlebot is a differential drive base, it cannot move in all directions, thus in order to get reasonable plans for it with OMPL, you'll need to use a state space that understands the movement of the robot (current options in OMPL are the Dubins curve or ReedsShepp curves, there is an example here: You'll need to implement functions to turn the Costmap2D into an OMPL state space, and then figure out how to the output plan from OMPL into a vector of PoseStamped. This is probably a fairly involved project.