Is is better to write my own customized controoller than to write a controller pluggin under ROS Navigation Stack framework?
Recently, I have been studying and trying to improve motion planning algorithms on non-holonomic wheeled robotics which sometimes would relate to controller feedback information. My question is then, if I were to implement my own controller (the one that output /cmd_vel), is it better to write my own controller apart from the move_base package than writing a controller pluggin within the framework of ROS Navigation stack? i.e.
- standalone node of controller
vs
- controller plugin reltated to ros_control
I am evaluating this question in terms of development time (I have barely one month to get the job done), ease of understanding as well as maintenance, and most importantly, the efficiency and flexibility of running with the previous method as standalone and the latter one as part of a more complex system. Thank you !
