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global planners for the ROS navigation stack are implemented as plugins for move_base; not as standalone nodes. This allows for better sharing of maps between different parts of the planner, for example. The path topics that are published from the global planner are for visualization and debugging purposes only.

If you want to implement your own global planner, Clearpath recently published a tutorial on the subject: http://www.ros.org/news/2014/11/new-tutorials-adding-a-global-path-planner-as-plugin-in-ros.html

global planners for the ROS navigation stack are implemented as plugins for move_base; not as standalone nodes. This allows for better sharing of maps between different parts of the planner, for example. The path topics that are published from the global planner are for visualization and debugging purposes only.

If you want to implement your own global planner, Clearpath there is a recently published a tutorial on the subject: http://www.ros.org/news/2014/11/new-tutorials-adding-a-global-path-planner-as-plugin-in-ros.html