multiple modes in planning layer
How exactly do we use multiple system modes in navigation stack
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Asked: 2016-08-21 00:51:55 -0500
Seen: 74 times
Last updated: Aug 21 '16
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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?
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
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.
You might look at this earlier question and also the Ackerman ROS group.