multiple modes in planning layer

asked 2016-08-21 00:51:55 -0600

rajnunes gravatar image

How exactly do we use multiple system modes in navigation stack

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Your question isn't specific enough right now. The global and local planners built-in to the navigation stack already have multiple modes, depending on the obstacles encountered. There are also nodes that support state machines, such as smach. Can you be more specific?

Mark Rose gravatar imageMark Rose ( 2016-08-21 03:43:16 -0600 )edit

Sorry what I actually ment was how do I switch to different modes depending on my need like a mode for single lane driving and multi lane driving, I'd just like to know how to switch @Mark Rose

rajnunes gravatar imagerajnunes ( 2016-08-22 01:18:00 -0600 )edit

That's a good question. I don't know if there are existing projects that plug in to the global and local planner interfaces to address the problem of car navigation. The global/local framework is still a good model, I think, but you might need entirely custom planner plugins.

Mark Rose gravatar imageMark Rose ( 2016-08-22 03:02:44 -0600 )edit

You might look at this earlier question and also the Ackerman ROS group.

Mark Rose gravatar imageMark Rose ( 2016-08-22 10:55:21 -0600 )edit