0
$\begingroup$

Rosanswers logo

Hi,

I'd like to create a local planner which implements the vfh algorithm and substitute it in the navigation stack. Any suggestion from where I can start or about previous work about it. I saw that I should use the interface BaseLocalPlanner of nav_core. But how can i substitute it when it is finished? I can't figure out wher to specify which local planner I want to use. Thank you in advance.


Originally posted by camilla on ROS Answers with karma: 255 on 2013-04-21

Post score: 0

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

You can start by taking a look at the CarrotPlanner local planner, it is one of the most simple and you can build from there. To specify a planner different from the default ones, you can add one of these lines to a launch file, where you launch the move_base node.

  ## alternative global planners ##
  <!-- <param name="base_global_planner" value="goal_passer/GoalPasser"/> -->
  <!-- <param name="base_global_planner" value="carrot_planner/CarrotPlanner"/> -->
  <!-- <param name="base_global_planner" value="SBPLLatticePlanner"/>-->

  ## alternative local planners ##
  <!-- <param name="base_local_planner" value="pose_follower/PoseFollower"/> -->
  <!-- <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/> -->
  <!-- <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS"/> -->

For example:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  <param name="base_global_planner" value="goal_passer/GoalPasser"/>
  <param name="controller_frequency" value="10.0" />
</node>

Originally posted by Procópio with karma: 4402 on 2013-04-21

This answer was ACCEPTED on the original site

Post score: 0


Original comments

Comment by camilla on 2013-04-21:
Thank you for your suggestion, it is really helpful. But isn't the carrot planner a global planner?

Comment by Procópio on 2013-04-21:
Indeed. Sorry, in that case you can begin with the PoseFollower and also take a look into the other local planners to have an idea on how to build your own.

Comment by ctguell on 2013-10-17:
@Procópio Silveira Stein I need to be able to navigate in an environment with moving people and avoid them do you have any idea how to accomplish it? Thanks

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.