Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Global planner plans whole path towards your goal and local planner is responsible for execution (publishing velocities), to follow global plan as closely as possible and according to it's configuration. You can find list of common global and local planners here. And DWA is a local planner, you can find it in the list and read about what it does and configuration params.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.