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I'll try to answer the questions in order.

All assuming you use the Standard move_base structure as linked to by @gvdhoorn above.

Who generates > nav_msg/Path local planner or global planner?

Both, but actually just for visualization. Typically on something like move_base/<PLANNER>/<local_/global_>plan topics. The local planner also generates a geometry_msgs/Twist message which provides the commanded velocities to the robot.

If it is generated by global_planner then how local planner use it to avoid obstacle.

It is passed from the global planner to the local planner through the nav_core Interfaces.

Can we generate customized nav_msg/Path??

Sure, as both local_planners and global_planners are plugins to move_base you can write your own plugin which creates the plan in a way that you want. Some more Information about how to do this can be found in the Tutorials or here, for example.

Actually how exactly the communication happens between global planner and local planner, using what topics or messages?

As stated above, this happens through the defined nav_core interfaces.

Is it black box?

No, as this is, as all of ROS, OSS. Check the links to the API documentation as well as the github repos on the respective wiki pages.

I'll try to answer the questions in order.

All assuming you use the Standard move_base structure as linked to by @gvdhoorn above.

Who generates > nav_msg/Path local planner or global planner?

Both, but actually just for visualization. Typically on something like move_base/<PLANNER>/<local_/global_>plan topics. The local planner also generates a geometry_msgs/Twist message which provides the commanded velocities to the robot.

If it is generated by global_planner then how local planner use it to avoid obstacle.

It is passed from the global planner to the local planner through the nav_core Interfaces.

Can we generate customized nav_msg/Path??

Sure, as both local_planners and global_planners are plugins to move_base you can write your own plugin which creates the plan in a way that you want. Some more Information about how to do this can be found in the Tutorials or here, for example.

Actually how exactly the communication happens between global planner and local planner, using what topics or messages?

As stated above, this happens through the defined nav_core interfaces.. For more Details, please refer to the API documentation on the wiki page.

Is it black box?

No, as this is, as all of ROS, OSS. Check the links to the API documentation as well as the github repos on the respective wiki pages.