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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.
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)
Asked: 2014-09-02 15:41:03 -0600
Seen: 331 times
Last updated: Sep 02 '14
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