which local planner to use for negative velocities/ backward motion

asked 2015-06-10 07:13:47 -0600

Naman gravatar image

updated 2015-06-10 16:30:30 -0600

Hi all,

I have a mobile robot which is navigating around a room. I am using move_base for planning with TrajectoryPlannerROS as the local planner and the default A* as the global planner. Now, I would like it to give negative velocities/ backward motion to the robot. As far as I know TrajectoryPlannerROS does not support negative velocities (correct me if I am wrong). The only local planner left is dwa_local_planner which can support negative velocities or backward motion. Are there any other local planners which can be used to provide backward motion? I have the option of using both default A* global planner and sbpl_lattice_planner.

Any help will be appreciated.

Thanks in advance.
Naman Kumar

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