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What global planners come with a ROS Indigo installation?

asked 2016-08-01 05:52:33 -0500

TortoiseTom gravatar image

I am looking into writing simple global planners for a turtlebot 2.

I have looked up other questions and seen that switching out global planners is as easy as changing the value of a parameter in the move_base.launch.xml file.

What I would like to know before carrying on is what global planners already exist on the system? (Base Turtlebot Indigo ROS)

I'd like to know, so that I can examine how these other planner shave been written before going on to trying my hand at writing one.

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answered 2016-08-04 15:50:52 -0500

emielke gravatar image

You can check using this command rospack plugins --attrib=plugin nav_core

That will list all the plugins that use nav_core as the base. Some are local planners, and some are global.

I'm pretty sure the global planners that come with indigo are global_planner, navfn and carrot_planner. You can check all their details out on their wiki pages:

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Thank you! I didn't realise rospack could be used to check plugins as well as package info

TortoiseTom gravatar image TortoiseTom  ( 2016-08-05 04:32:37 -0500 )edit

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Asked: 2016-08-01 05:52:33 -0500

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Last updated: Aug 04 '16