How do I implement my own local planner?
I want to implement my own local planner that adheres to base_local_planner for use with move_base. I need to make a planner that does not allow for rotation in place (car-like steering). I have tried going through all the documentation and reading the source on Github, but it's a bit overwhelming. Can anyone point to kind of a minimal example that would adhere to the interface, or maybe give some points on how I could modify either base_local_planner or dwa_local_planner to fit my needs?
Thanks in advance.
It is indeed a difficult task. First of all you have to find out all the input that comes into the base_local_planner and then you have to figure it out how it affects other nodes/topics. Then only you will be able to achieve your goal.