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Hi, I want to implement path planning algorithm(A star) on turtle-bot.

Is it possible to do along with amcl demo.

How can i read the obstacles in the map? And how the cost of some position in the map can be changed if i want some places in the map to be avoided.

Can someone suggest me how to go with it.

Thank you.


Originally posted by Chennamaneni on ROS Answers with karma: 1 on 2014-04-07

Post score: 0

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What you're looking to do is implement your own global planner (interface: base_global_planner).

Read about how all the pieces link together in http://wiki.ros.org/navigation and http://wiki.ros.org/nav_core.

What you're really doing is creating a subclass of http://docs.ros.org/hydro/api/nav_core/html/classnav__core_1_1BaseGlobalPlanner.html, overriding the two methods to implement your functionality.


Originally posted by paulbovbel with karma: 4518 on 2014-04-07

This answer was ACCEPTED on the original site

Post score: 1

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