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ROS Navigations Alternative Algorithms

Hi,

I have a few questions about the current ROS Navigation stack:

  1. Local Planner: Currently there are two options - base_local_planner and the dwa_local_planner. Is there any work on more planners for local path planning? I know that we can write planners that plugin as long as they follow the nav_core interface but are there any open source alternatives out there? I am guessing there must be some planners out on researchers or University github account or something of the sort. Any suggestions on how to bring them out?
  2. Global Planner: Similar to the earlier question - I know that navfn uses Dijkstras algorithm. But are there any other sources of code out there that use other popular algorithms such as the A* or the D*?
  3. Forward Trajectories of the Local Planners: Both the planners mentioned above forward project the trajectories by sampling the Vx and Vtheta space. Will this work well for car-like robots that are controlled by steering angle and forward velocity? What's the best suggestion on using car-like robots with ROS Navigation.
  4. What's the best way to implement variations and modifications to the planner to fit in with the ROS Navigation framework. For ex: if I want to implement a predictive obstacle avoiding planner rather than the classical non-predictive one used currently.

Thank you very much.

ROS Navigations *ROS Navigation Alternative Algorithms

Hi,

I have a few questions about the current ROS Navigation stack:

  1. Local Planner: Currently there are two options - base_local_planner and the dwa_local_planner. Is there any work on more planners for local path planning? I know that we can write planners that plugin as long as they follow the nav_core interface but are there any open source alternatives out there? I am guessing there must be some planners out on researchers or University github account or something of the sort. Any suggestions on how to bring them out?
  2. Global Planner: Similar to the earlier question - I know that navfn uses Dijkstras algorithm. But are there any other sources of code out there that use other popular algorithms such as the A* or the D*?
  3. Forward Trajectories of the Local Planners: Both the planners mentioned above forward project the trajectories by sampling the Vx and Vtheta space. Will this work well for car-like robots that are controlled by steering angle and forward velocity? What's the best suggestion on using car-like robots with ROS Navigation.
  4. What's the best way to implement variations and modifications to the planner to fit in with the ROS Navigation framework. For ex: if I want to implement a predictive obstacle avoiding planner rather than the classical non-predictive one used currently.

Thank you very much.