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About local planner ?

asked 2014-09-02 15:41:03 -0600

assil gravatar image

Hi all,

I'd like to implement a new local planner in move_base. My new planner is based on a Fuzzy-PID controller and is implemented in c++.

My question is: can I integrate it in the ROS's navigation stack? and how match is it difficult or easy to do?

waiting for your answers and your help. Best regards.

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answered 2014-09-02 20:01:59 -0600

To integrate a custom local planner with the navigation stack is fairly easy: You need to write a plugin for move_base that adheres to the nav_core::BaseLocalPlanner interface.

You can find documentation here and as an example you can take a look at the code of the dwa_local_planner (pay special attention to dwa_planner_ros.h and dwa_planner_ros.cpp)

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Asked: 2014-09-02 15:41:03 -0600

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Last updated: Sep 02 '14