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Hello Procópio!

Hope this late answer can be of some help. We have been confronted to the same issue, and we ended up writing our own local planner.

It is a very simple node subscribing to a moving goal topic. It gets the free space description by subscribing to the local costmap topic. It makes a search of the best (v, w) speed couple within the free space.

An illustration is available here . The somewhat documented CPP code is here .

Hope it can be of any use, Arnaud

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