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1 | initial version |
Note that navfn
is a global planner, i.e. it computes that path from a start point to an end point, whereas dwa_local_planner
is a local planner (as the name suggests) , which is used to avoid obstacles while following a pre-planned (from the global planner) path.
Thus, you cannot substitute one with the other.
Alternatives would be (amongst others):
navfn
: global_planner
dwa_local_planner
: TrajectoryPlannerROS, teb_local_planner
and others.You can change them by replacing the respective base_global_planner
and base_local_planner
parameters of move_base
to the respective planner plugin name.
2 | No.2 Revision |
Note that navfn
is a global planner, i.e. it computes that path from a start point to an end point, whereas dwa_local_planner
is a local planner (as the name suggests) , which is used to avoid obstacles while following a pre-planned (from the global planner) path.
Thus, you cannot substitute one with the other.
Alternatives would be (amongst others):
navfn
: global_planner
dwa_local_planner
: TrajectoryPlannerROS, teb_local_planner
and others.You can change them by replacing the respective base_global_planner
and base_local_planner
parameters of move_base
to the respective planner plugin name.
Edit
About what plan are you talking now? Global or local?
Anyways, the answer is the same. Choose your appropriate planner algorithm and implement that as the respective LocalPlanner/GlobalPlanner plugin to move_base
. There is a tutorial about how to do this for a global planner on the wiki.
You can also have a look on other planners how they are implemented.