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[Navigation] Is there a ROS Framework to integrate arbitrary local and global planners?

asked 2020-08-11 12:27:33 -0500

NithishkumarS gravatar image

updated 2022-06-12 19:31:44 -0500

lucasw gravatar image

Is there a simple solution to integrate any arbitrary local and global planner in ROS without a lot of hassles? The user is attempting to come up with a new local planner and needs to integrate it with a global planner for better bench marking.

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answered 2020-08-12 10:37:57 -0500

updated 2020-08-12 10:39:00 -0500

is there a simple solution to integrate any arbitrary local and global planner in ROS

This is the major rationale for pluginlib plugins. You can just implement a header and be able to load your new algorithm and replace and old one with 1 line of yaml. Not sure it gets much easier than that!

If you’re looking for more flexible solutions to the general navigation problem, MBF or Nav2 are also options but it sounds like you just want to implement a plugin. Implementing plugins will be part of / work with either of those as well.

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answered 2020-08-12 00:04:38 -0500

gvdhoorn gravatar image

updated 2020-08-12 00:05:27 -0500

I'm not sure what "a lot of hassles" means exactly, but perhaps move_base_flex (in ROS 1):

Move Base Flex (MBF) is a backwards-compatible replacement for move_base. MBF can use existing plugins for move_base, and provides an enhanced version of the planner, controller and recovery plugin ROS interfaces. It exposes action servers for planning, controlling and recovering, providing detailed information of the current state and the plugin’s feedback. An external executive logic can use MBF and its actions to perform smart and flexible navigation strategies.

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In ROS 2, Navigation 2 is pretty flexible as well and has some of the same design as move_base_flex, but it all depends a bit on what "a lot of hassles" means.

gvdhoorn gravatar image gvdhoorn  ( 2020-08-12 00:06:17 -0500 )edit

Thank you. I understand that plugins is the way to go. By "without a lot of hassles" I guess I wanted to find the simplest solution.

NithishkumarS gravatar image NithishkumarS  ( 2020-08-13 12:06:22 -0500 )edit

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Asked: 2020-08-11 12:27:33 -0500

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Last updated: Aug 12 '20