ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

customising the path planning algorithm

asked 2016-04-16 20:58:53 -0500

Ajith kumar gravatar image

I am trying to change the path planning algorithm which is used for the robots to find the shortest path to reach the goal in rviz. i want to customize it with my algorithm so as to find the shortest path efficiently . so, i want to know which package is responsible for path planning of robots.[NOTE: I am currently working on simulated jackal robot.]

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-04-17 04:06:00 -0500

croesmann gravatar image

updated 2016-04-17 04:06:57 -0500

Path/trajectory planning is performed using the navigation stack which itself consist mainly of the move_base node and a (local/global) costmap. move_base loads a local and a global planner plugin. So what you want is probably to load your selfmade global planner here.

You can refer to the Tutorial Writing a Global Path Planner as Plugin for ROS.

There are also a lot of other questions here regarding your concerns:

I recommend to first investigate how the navigation stack works in general before trying to implement your own plugin interface.

edit flag offensive delete link more


thank you sir for your reply.

Ajith kumar gravatar image Ajith kumar  ( 2016-04-21 20:35:09 -0500 )edit

Question Tools



Asked: 2016-04-16 20:58:53 -0500

Seen: 4,090 times

Last updated: Apr 17 '16