base_local_planner Documentation

base_local_planner: A local planner for a mobile base

This package provides implementations of the Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane. Given a plan to follow and a costmap, the controller produces velocity commands to send to a mobile base. This package supports both holonomic and non-holonomic robots, any robot footprint that can be represented as a convex polygon or circle, and exposes its configuration as ROS parameters that can be set in a launch file. This package's ROS wrapper adheres to the BaseLocalPlanner interface specified in the nav_core package.


This package provides an implementation of a local planner for a mobile robot. The planner uses either the Trajectory Rollout or Dynamic Window Approach to povide safe local naivagtion commands to the base.


There are two main ways to use this package. The first is to create a TrajectoryPlanner object and manage it yourself. The second, and encouraged method, is to use a ROS wrapper (base_local_planner::TrajectoryPlannerROS) that manages the underlying TrajectoryPlanner for you and adheres to the ROS nav_robot_actions::BaseLocalPlanner interface.

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Author(s): Eitan Marder-Eppstein, Eric Perko
autogenerated on Fri Mar 1 16:10:11 2013