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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 -0600

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!

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answered 2019-04-09 00:52:37 -0600

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.

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Asked: 2019-04-08 22:18:15 -0600

Seen: 393 times

Last updated: Apr 09 '19