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Difference between trajectory_planner.cpp and trajectory_planner_ros.cpp

asked 2015-01-21 22:03:29 -0500

ct2034
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updated 2015-01-21 22:03:50 -0500

I am currently trying to work with the trajectory planner in base_local_planner.

But now I am A bit confused, because the two source files trajectory_planner.cpp and trajectory_planner_ros.cpp seem to implement the same methods, or at least have a lot of overlap.

Can someone help me on that?

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answered 2015-01-22 02:38:29 -0500

Stefan Kohlbrecher

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It looks like trajectoy_planner.cpp implements the basic planning functionality, while trajectory_planner_ros.cpp provides the ROS API/communication part (publishers, subscribers etc.). This way of splitting functionality has the advantage that the planning part can be re-used more easily.

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Does trajectory_planner.cpp update/construct/choose the trajectories? What does the global planner will do then?

RB ( 2015-01-22 07:56:24 -0500 )edit

Yes, this was also my impression. But I was confused that both seem to implement for example checkTrajectory. But the one in trajectory_planner_ros.cpp seems to be only a wrapper.

ct2034 ( 2015-01-22 14:01:43 -0500 )edit

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Asked: 2015-01-21 22:03:29 -0500

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