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DWAPlannerROS vs TrajectoryPlannerROS

asked 2014-11-06 01:54:33 -0500

arennuit gravatar image

Hi all,

I am currently looking to implement my own local planner plugin for the navigation stack. I was looking at DWAPlannerROS and TrajectoryPlannerROS to help me start with. Though I am not sure I understand the relation between these 2 planners. Are they just 2 different local planners or is one part of the second?

I am asking because, as far as I understand from this wiki and the source, the DWA algorithm is implemented twice. Once in TrajectoryPlannerROS and another time in DWAPlannerROS.

Am I correct in saying so? And if so, is there a reason why the DWA is coded twice?

Now, if I understand this section, I believe the recommended way to implement a new local planner plugin is to inherit DWAPlanner. Do you confirm?

I am asking because there is a clean tutorial so as to write custom global planners, but I could not find an equivalent for local planners.



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Mani gravatar image Mani  ( 2014-11-06 10:17:06 -0500 )edit

Haha good point! Thanks ;)

arennuit gravatar image arennuit  ( 2014-11-06 11:03:23 -0500 )edit

If we want to change/update trajectories (instruct the automated navigator to follow our trajectory)then which local_planner should be modified?

RB gravatar image RB  ( 2015-01-22 09:30:34 -0500 )edit

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answered 2014-11-06 05:15:16 -0500

dornhege gravatar image

In principle you can just implement the bare base_local_planner interface. The idea of the section you cited is that some functionality is quite common among local planners, e.g. checkTrajectory. If your local planner behaves similarly it would be a good idea to use the same code. What makes more sense for you depends on your algorithm.

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Okey dok, understood. Thanks for your help!

arennuit gravatar image arennuit  ( 2014-11-06 08:07:19 -0500 )edit

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Asked: 2014-11-06 01:54:33 -0500

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Last updated: Nov 06 '14