How does DWA works in relation to global planner?
I'm trying to understand how DWA works by looking at this implementation
https://github.com/AtsushiSakai/Pytho...
I try to make the connection with global planner. I don't see where global planner comes into play.
- How does DWA use information provided by the global planner in ROS, more precisely the trajectory coming from global planner that DWA has to follow? I don't see anywhere where it is following some trajectory.
- What others information coming from global planner (apart from the trajectory) does DWA use?
- How does DWA know about the obstacles? because in this implementation, to compute the cost, it computes the distance to each obstacles, so DWA should somehow as input know where the obstacles are (coordinates of obstacle I presume).
- When we talk about trajectory in DWA (in the original papers they also often use the term trajectory), does DWA compute itself some trajectory to follow or does it follow a trajectory generated by the global planner?
How does all of this work in the DWA implementation of ros? Thanks a lot.
Please realise that the code you link to appears to be a completely ROS-agnostic implementation. I don't know whether you'll receive any answers here, as on ROS Answers, we typically tend to discuss ROS-related topics and questions.
my questions are however general related and therefore also ROS related. I just wanted to cite the resource I'm learning DWA from.
I'm inclined to agree with @gvdhoorn, this isn't a ROS question. That implementation is independent to all of your followups.