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To Quote the wiki:
2.1.1 Published Topics
~<name>/global_plan (nav_msgs/Path) The portion of the global plan that the local planner is currently attempting to follow. Used primarily for visualization purposes.
~<name>/local_plan (nav_msgs/Path) The local plan or trajectory that scored the highest on the last cycle. Used primarily for visualization purposes.
Basically, global_plan is what is currently viewed as "follow this path", i.e. the Input to the planner, which is not the full path to the goal. Otherwise, it might be that tremendous shortcuts could appear. How long this is depends on several Parameters, maily those in 2.2.3 of the wiki.
The local plan is the adjusted/sampled trajectory which is executed in the following, i.e. the Output. The execution, however, happens in terms of velocities that are published through move_base.
@fergs good point, though I'd rather see it as collision avoidance (in terms of which way to go around obstacles) + controller. IMO, this is one of those things I experienced to be of a constant source of confusion in beginning with ROS. One could probably argue that this could be split, though some
Asked: 2018-03-27 04:21:07 -0500
Seen: 30,340 times
Last updated: Mar 27 '18
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