cd catkin_workspace/src
git clone https://github.com/amslabtech/dwa_planner.git
cd dwa_planner
catkin build --this
- /scan
- Default input is /local_map
- If /scan is used, set
use_scan_as_input
to true
- /footprint
- robot footprint
- If /footprint is used, set
use_footprint
to true
footprint_publisher
node in amsl_navigation_utils
repository publishes rectangular footprint
- /path
- for path cost
- Default evaluation does not use path cost
- If path cost is used, set
use_path_cost
to true
- Give a part of the global path (edge)
- HZ
- main loop rate (default: 20[Hz])
- TARGET_VELOCITY
- max velocity of robot's target velocity (default: 0.55[m/s])
- ROBOT_FRAME
- robot's coordinate frame (default: base_link)
- TF (from LocalMap_FRAME to ROBOT_FRAME) is required
roslaunch dwa_planner local_planner.launch
- D. Fox, W. Burgard, and S.Thrun, "The dynamic window approach to collision avoidance", IEEE Robotics Automation Magazine, 1997.
(https://ieeexplore.ieee.org/abstract/document/580977)