Hi everybody,

I'm trying to write my own local planner for the move_base node. But I'm not sure where to begin.

I've looked into movebase: http://wiki.ros.org/movebase, and I see that's neatly divided. So I was kinda hoping to perhaps create my own local planner that would imitate that of the move_base node (subscribe to the same topics and publish the same msgs), but I just can't find a way to do it.

I'm open to any suggestions.

I also tried this tutorial: http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS Although it is made for the global planner, I thought it might be helpful. However the tutorial is made for the Turtlebot and I'm just running a simulation in Gazebo with my model of a robot. So when I try to set a goal in Rviz it I get an error saying:

[movebase-9] process has died [pid 14142, exit code -11, cmd /home/duje/catkinws/devel/lib/movebase/movebase /basescan/scan:=/scan _name:=movebase _log:=/home/duje/.ros/log/a20bf18c-d8c3-11e5-853e-20cf303a8326/movebase-9.log]. log file: /home/duje/.ros/log/a20bf18c-d8c3-11e5-853e-20cf303a8326/movebase-9*.log

Don't know quite what's the problem, I can see in the rqtdynamicreconfigure window that the global planner IS set to RelaxedAStar.

my ROS distro: Indigo