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How do i switch between planners at runtime

asked 2017-12-06 01:12:06 -0500

rajnunes gravatar image

updated 2017-12-10 00:17:37 -0500

I need to be able to switch between two planners based at runtime based on some logic devised.

How exactly do i do this if both are ros nodes? (Is it possible to do this even if these nodes are not registered as planners)

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answered 2017-12-11 01:42:16 -0500

mgruhler gravatar image

If you are talking about move_base local_planners, you cannot switch between runtime out-of-the-box.

What you could do is to write a "Default plugin" which allows you to take in Topics/Services/Actions from a stand-alone node, and handle switching via a state machine or something.

Also, there are two new approaches that extend move_base and could help you with this, that might be worth investigating (however, I cannto guarantee for anything ;-) ):

  • move_base_flex by magazino link
  • nav_core2 by locusrobotics link
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Asked: 2017-12-06 01:12:06 -0500

Seen: 339 times

Last updated: Dec 11 '17