Ask Your Question
0

how to run base_local_planner and dwa_local_planner standalone?

asked 2014-08-20 12:26:14 -0600

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?

thanks

ray

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2014-08-20 12:39:11 -0600

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2014-08-20 12:26:14 -0600

Seen: 263 times

Last updated: Aug 20 '14