Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

base_local_planner and dwa_local_planner do collision avoidance based on a costmap that is normally built from lasers.

To understand the code, I would say a solid knowledge of C++ is definitely helpful. The same holds for creating your own packages. Have a look at the ROS tutorials.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.