I have an alternative navigation package that generates cmd_vel messages given the plans published on /move_base/NavfnROS/plan. I already redirected topics and everything runs well... but there is a lot of wasted overhead processing in move_base. What is the best method for stripping move base of its local planner?
A couple more specifics:
- We are using the default global planner ("navfn/NavfnROS")
- We want to use both the global and local costmaps to produce a plan
Should I be: A) stripping the base_local_planner from the source code? B) write a separate planning node from scratch C) maybe there is a parameter I can set? D) something else?
Originally posted by ebeowulf on ROS Answers with karma: 100 on 2015-05-20
Post score: 2