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Hi all,

I'd like to implement a new local planner in move_base. My new planner is based on a Fuzzy-PID controller and is implemented in c++.

My question is: can I integrate it in the ROS's navigation stack? and how match is it difficult or easy to do?

waiting for your answers and your help. Best regards.


Originally posted by assil on ROS Answers with karma: 41 on 2014-09-02

Post score: 0

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To integrate a custom local planner with the navigation stack is fairly easy: You need to write a plugin for move_base that adheres to the nav_core::BaseLocalPlanner interface.

You can find documentation here and as an example you can take a look at the code of the dwa_local_planner (pay special attention to dwa_planner_ros.h and dwa_planner_ros.cpp)


Originally posted by Martin Peris with karma: 5625 on 2014-09-02

This answer was ACCEPTED on the original site

Post score: 3

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