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]

I know this is not quite what you are looking for, but you can try to use goal_passer as your local planner, which is available in the navigation_experimental stack or carrot_planner. Both are simpler planners that may speed up your navigation. If they do not suit you, you can look at their codes and create your own. cheers

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.