Ask Your Question

How can I change the default global path planning algorithm (A* and dijkstra) into my custom path planner (RRT)?

asked 2019-04-08 22:18:15 -0500

Nhat Luong gravatar image

Hi, I'm new to ROS. I want change the path planning in global_planner package. The default path planning algorithms are Astar (A*) and Dijkstra. I want to use the RRT (Rapidly-exploring random tree) algorithm for path planning but I don't know where to start. The code in Navigation stack is huge and there is only a few comment to explain the code.

Please show me the way to do it. Thank you!

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2019-04-09 00:52:37 -0500

mgruhler gravatar image

You need to write a global planner plugin for move_base. There is a tutorial on the wiki about how to do this.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2019-04-08 22:18:15 -0500

Seen: 959 times

Last updated: Apr 09 '19