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how to run base_local_planner and dwa_local_planner standalone?

asked 2014-08-20 12:26:14 -0500

dreamcase gravatar image

hi, all,

I am trying to run the navigational core move_base separately. there are number of nodes to run before it functions properly.

among them, I cannot find any executable under base_local_planner and dwa_local_planner packages, i.e. I cannot 'rosrun xx_local_planner [executable]'. how to run them as standalone nodes?



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answered 2014-08-20 12:39:11 -0500

paulbovbel gravatar image

move_base is one node that loads planners using pluginlib. Planner classes follow the interfaces defined in base_local_planner and base_global_planner, but they don't (usually) directly publish or subscribe to anything.

If you REALLY want to run a planner on it's own, you can write a small c++ node that loads the plugin as a member variable, and sets up the publishers/subscriptions as necessary.

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Asked: 2014-08-20 12:26:14 -0500

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Last updated: Aug 20 '14