Implement obstacle avoidance methods and local navigation (move_base)

edit

Thanks for answering, yet I did not get the idea : does it exist some obstacle avoidance procedures ? I think dynamic window is not robust against moving obstacles, am I wrong ? If I can reformulate my ask : where [in the code] should I put the local trajectory to do obstacle avoidance ?

Any other implementation apart from elastic band or dynamic window ?

Hello Mr. Lu, I have found one of your latest work dwb_local_planner Do you think I can use it in order to make my own planner ? Precisely, I need to modify only the local trajectory, I do not want to build an other m

Precisely, I need to modify only the local trajectory, I do not want to build an other motion controller. Concretely, I just want to give a list of PoseStamped that I have computed from a Costmap layer and current position.

As I advised in the other thread, it will be easiest if you get a working nav configuration first, and then start tinkering with adding additional methods. Dynamic window isn't ideal for moving obstacles, but it still does pretty well.