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Global planner with curvature limit

asked 2021-10-14 02:00:03 -0500

mit gravatar image

Hi all,

I'm looking for a global path planner (base_global_planner) with a feature of limiting the curvature (or turning radius) of the path. I found teb_local_planner which can configure the minimum turning radius, but it's designed as a local planner.

Does anyone knows a path planner compatible with curvature limitation? Or, is there a way to use teb_local_planner as a global planner, just for publishing the entire path to the goal?

My environment: Ubuntu 18.04, ROS Melodic

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Hi @mit pls take a look at this previous question: #q234821

osilva gravatar image osilva  ( 2021-10-14 19:41:15 -0500 )edit

There is a nice explanation and a link to a tutorial

osilva gravatar image osilva  ( 2021-10-14 19:41:43 -0500 )edit

@osilva Thanks for the information, but I think that is not I want to do. Both the explanation and tutorial assume that we have a pre-generated global path, but I need a way to get a global path considering its maximum curvature. Actually I'm planning to use a self-made local planner rather than teb_local_planner, so a global planner with curvature limiting feature is my ideal.

mit gravatar image mit  ( 2021-10-14 20:49:58 -0500 )edit

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answered 2021-10-15 13:18:47 -0500

There's not one in the well-maintained or core nav stacks in ROS 1.

However, there is one for ROS 2 in the Smac Planner, the Hybrid-A* planner

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Thank you @stevemacenski, I will try that

mit gravatar image mit  ( 2021-10-16 09:13:38 -0500 )edit

Can you accept the answer to get off the unanswered queue?

stevemacenski gravatar image stevemacenski  ( 2021-10-16 12:32:10 -0500 )edit

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Asked: 2021-10-14 02:00:03 -0500

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Last updated: Oct 15 '21