[ros-users] navigation stack local plaanners

Eitan Marder-Eppstein eitan at willowgarage.com
Mon Jul 25 17:46:17 UTC 2011


So, I can't really speak to all the packages out there that might perform
local path planning, but I can talk about the base_local_planner and
dwa_local_planner packages. However, I'd like to answer this question on
answers.ros.org instead of ros-users as I think that's a more appropriate
forum. If you don't mind, could you please re-post this question on
answers.ros.org and send out a link to it? I'll be happy to answer it there.

Hope all is well,


On Mon, Jul 25, 2011 at 6:00 AM, Armstrong-Crews, Nicholas - 0447 - MITLL <
nickarmstrongcrews at ll.mit.edu> wrote:

> A further inquiry on this topic:
> Could someone point myself and Thibault to other packages (in other repos)
> that perform local path planning and conform to the move_base interface?
>  And maybe comment on their performance...
> Thanks!
> -Nick
> -----Original Message-----
> From: ros-users-bounces at code.ros.org [mailto:
> ros-users-bounces at code.ros.org] On Behalf Of Thibault Kruse
> Sent: Friday, July 22, 2011 5:15 PM
> To: ros-users at code.ros.org
> Subject: [ros-users] navigation stack local plaanners
> Hi,
> the navigation stack contains the trajectory planner and the dwa local
> planner. What is the ROS community recommendation with regards to those
> two? Which one should one rather use? The wiki recommends dwa, but I am
> not sure how recent that information is.
> Is there a strategy for how to evolve them in the future?
> The wiki provides only very sparse information about those two, and from
> it it seems strange that the two planners don't share more common code.
> Also it seems one copied a lot from the other, so there is a lot of
> duplicate similar code anyway, which for me would be a reason to unify
> the sources, so that bugfixes and improvements to one also affect the
> other.
> regards,
>   Thibault
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