ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

2

DWAPlannerROS vs TrajectoryPlannerROS

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

955 ●67 ●83 ●98

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.

Thanks,

Antoine.

edit retag flag offensive close merge delete

Comments

1

This might also be helpful: http://answers.ros.org/question/10718...

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

Haha good point! Thanks ;)

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

1 Answer

Sort by » oldest newest most voted

1

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

flag of Germany

31395 ●134 ●284 ●498

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.

edit flag offensive delete link

Comments

Okey dok, understood. Thanks for your help!

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

Question Tools

2 followers

Stats

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

Seen: 4,981 times

Last updated: Nov 06 '14

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2