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local planner orientation

asked 2016-03-21 13:08:03 -0500

updated 2016-05-22 19:11:35 -0500

130s gravatar image


We developed a global planner with orientations here in the lab since navfn or global planner don't generate such. However we now found the problem that local planner dwa and eband both ignore the provided orientations. Is there a way to configure dwa or eband local planner to follow intermediate orientations? (not only the final one) or do we have to write our own local planner?,

Just for reference we have a omnidirectional mobile base (youBot) which has non circular footprint.

thanks for the help


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answered 2016-03-21 15:42:22 -0500

al-dev gravatar image

You can check out the pose_follower local planner if you need to track a sequence of poses with orientations. It is much much simpler than DWA, but may not give you the same quality of motion, depending on how good your global planner is, how spaced are the poses in the global plan, and what are the dynamics of your vehicle.

I guess there is no issue with modifying the DWA implementation to use orientations, because it already stores the global plan as a vector of poses. You could for instance implement an additional trajectory critic to prefer trajectories that align with orientations along the path.

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Asked: 2016-03-21 13:08:03 -0500

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Last updated: Mar 21 '16