dwa_planner
Enviornment
- Ubuntu 18.04 or 20.04
- ROS Melodic, or Noetic
Install and Build
cd catkin_workspace/src
git clone https://github.com/amslabtech/dwa_planner.git
cd ..
catkin_make
Node I/O
Parameters
- HZ
- main loop rate (default: 20[Hz])
- TARGET_VELOCITY
- max velocity of robot's target velocity (default: 0.8[m/s])
- ROBOT_FRAME
- robot's coordinate frame (default: base_link)
Runtime requirement
- TF (from LocalMap_FRAME to ROBOT_FRAME) is required
How to Use
- for local path planning
roslaunch dwa_planner local_planner.launch
References
- D. Fox, W. Burgard, and S.Thrun, "The dynamic window approach to collision avoidance", IEEE Robotics Automation Magazine, 1997.