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
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
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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