Implement obstacle avoidance methods and local navigation (move_base)
Hello,
I would like to implement obstacle avoidance methods in Turtlebot2 (Velocity obstacles, VFH+. APF,...). And I do not know if I have to use pluginlib and do as D. Lu did. That is, implement the interface named nav_core::BaseLocalPlanner and do planning in computeVelocityCommands method [1].
Or maybe, it requires to do something else such as modifying costmap_2d [2], add PoseStamped ?
So, does somebody may advise me on what should I do first, since I am a beginner using ROS ?