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How do I implement my own local planner?

asked 2014-01-19 13:11:59 -0500

nc61 gravatar image

updated 2014-01-28 17:19:05 -0500

ngrennan gravatar image

I want to implement my own local planner that adheres to base_local_planner for use with move_base. I need to make a planner that does not allow for rotation in place (car-like steering). I have tried going through all the documentation and reading the source on Github, but it's a bit overwhelming. Can anyone point to kind of a minimal example that would adhere to the interface, or maybe give some points on how I could modify either base_local_planner or dwa_local_planner to fit my needs?

Thanks in advance.

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It is indeed a difficult task. First of all you have to find out all the input that comes into the base_local_planner and then you have to figure it out how it affects other nodes/topics. Then only you will be able to achieve your goal.

RB gravatar image RB  ( 2014-01-19 16:17:33 -0500 )edit

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answered 2014-06-20 14:05:44 -0500

ahendrix gravatar image

I have an incomplete Ackermann-style local planner here that may be useful: https://github.com/trainman419/dagny_...

It generates the appropriate control for an ackermann-style base, but doesn't do any collision checking or avoidance yet.

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answered 2014-06-20 13:39:57 -0500

tfoote gravatar image

The interfaces for elements of the navigation stack are in the nav_core package.

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Asked: 2014-01-19 13:11:59 -0500

Seen: 643 times

Last updated: Jun 20 '14