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How to make global_planner_plugin in ROS2

asked 2021-04-13 04:17:56 -0600

root-robot
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So recently I was trying to make my own global_planner plugin in ROS2 but could not find a relevant tutorial. Although nav2_straightline_planner is an excellent guide but somehow its nav2_straightline_planner doesn't seem to work properly.

I was able to run the local_planner (Pure Pursuit ) with some slight modifications but I am unable to solve the issues caused by nav2_straightline_planner. Link to the issues faced..

So it's a request if anyone could provide a link to some other planner_plugin tutorial/Github/source_code or could give a solution to the above issue that will be of huge help.

Thanks in advance.

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answered 2021-04-16 00:56:50 -0600

PHFP
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I am starting research on how to write a plugin for the nav2 global planner. So far, I found this issue https://github.com/ros-planning/navig... with this repository https://github.com/shivaang12/navigat...

Probably this can be helpful to you. I am planning to implement an RRT planner to nav2. For this, I am planning to use the off-the-shelf algorithms from OMPL to embed as a plugin on nav2. I think these links can be helpful.

Thanks

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Hey PHFP thanks for your reply. So I will try using the OMPL planner and will update if I am able to figure out a way to make a simple_straightline_planner.

Thanks

root-robot ( 2021-04-19 04:03:05 -0600 )edit

Hey, PHFP did you find a solution?

root-robot ( 2021-04-29 05:56:47 -0600 )edit

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Asked: 2021-04-13 04:17:56 -0600

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Last updated: Apr 13 '21

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