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Because the Turtlebot is a differential drive base, it cannot move in all directions, thus in order to get reasonable plans for it with OMPL, you'll need to use a state space that understands the movement of the robot (current options in OMPL are the Dubins curve or ReedsShepp curves, there is an example here: http://ompl.kavrakilab.org/GeometricCarPlanning_8cpp_source.html). You'll need to implement functions to turn the Costmap2D into an OMPL state space, and then figure out how to the output plan from OMPL into a vector of PoseStamped. This is probably a fairly involved project.