Zhiping,

If you want to implement a custom local planner for navigation, you'll have
do do a couple of things:

1) Make sure that your planner adheres to the nav_core::BaseLocalPlanner
interface here http://www.ros.org/wiki/nav_core#BaseLocalPlanner
<http://www.ros.org/wiki/nav_core#BaseLocalPlanner>2) Make sure to register
your planner as a plugin for the navigation stack. You can use the
base_local_planner package as an example and find general documentation on
pluginlib here: http://www.ros.org/wiki/pluginlib
<http://www.ros.org/wiki/pluginlib>3) Change the base_local_planner
parameter of move_base, documented here
http://www.ros.org/wiki/move_base#Parameters, to point to your new planner.

Hope this helps,

Eitan

On Wed, Jan 5, 2011 at 2:15 AM, #TAN ZHI PING# <TANZ0066@e.ntu.edu.sg>wrote:

>  Hi all,
>
> I noticed that the basic_local_planner from move_base can be detached and
> replaced by the navigation_experiment. If I wished to create a local
> planner, can i simply change the local_planner.yaml like what i did using
> navigation_experiment? What are the other factors i need to consider when
> i'm creating my local_planner?
>
> Thanks for your help.
>
> With thanks,
> Zhiping
>
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