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As @dornhege said, what you propose is doable in principle. It would be easier if you perform path planning on the robot though, because the navigation stack already covers the functionality you require. Based on roscpp, it currently does not run on Android phones however (rosjava is the implementation of choice on Android phones).

As @dornhege said, what you propose is doable in principle. It would be easier if you perform path planning on the robot though, because the navigation stack already covers the functionality you require. Based on roscpp, it currently does not run on Android phones however (rosjava is the ros implementation of choice on Android phones).