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How to use move_base with the DWA planner as the local planner in kinetic

asked 2016-05-26 07:28:59 -0500

doisyg gravatar image

Hello, I am really confused as how to use the DWA for local planning with move_base. It seems that dwa is now a bool parameter of the base_local_planner/TrajectoryPlannerROS. But then how to access the dw_local_planner parameters, such as forward_point_distance?

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answered 2016-05-26 07:44:28 -0500

doisyg gravatar image

Problem solved! I was getting errors while starting move_base with DWA in a classical way because i forgot to install the proper package:

 sudo apt-get install ros-kinetic-dwa-local-planner

Now everything is working well.

For reference i set the local planner as DWA by adding this line to my move_base.launch file:

<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>

I can then set the params with a *.yaml file:

DWAPlannerROS:
  max_vel_x: 0.4
  min_vel_x: 0.1

  max_trans_vel: 0.4
  min_trans_vel: 0.1

  etc....

Sorry for shooting to fast. But to be fair the documentation of the navigation stack is not very clear on this point...

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Thank you for pointing this out. I've been wondering the same thing myself. This answer should be marked as the correct one.

jayess gravatar imagejayess ( 2017-07-06 18:59:30 -0500 )edit

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Asked: 2016-05-26 07:28:59 -0500

Seen: 1,925 times

Last updated: May 26 '16