davidezilio / custom_navigation

Custom global and local planners implemented as move_base plugins for ROS Navigation Stack

Custom planners using ROS Navigation Stack

This repository contains a custom Global and Local planners. The algorithms implemented are

• Astar for global planner
• DWA for local planner

Both planners have been developed following the specificied interfaces

• Turotial
• BaseGlobalPlanner interface
• BaseLocalPlanner interface

The BaseGlobalPlanner interface requires the following functions:

• initialize
• makePlan

The BaseLocalPlanner interface requires the following functions:

• initialize
• computeVelocityCommands
• isGoalReached
• setPlan

Running

A demo can be run using the neo_simulation package
roslaunch neo_simulation mpo_500_autonomous_navigation_custom.launch