/dijkstra_global_planner

Primary LanguageC++

dijkstra_global_planner

Build Status issue_opened issue_closed

Enviornment

  • Ubuntu 16.04 or 18.04
  • ROS Kinetic or Melodic

Dependencies

  • amsl_navigation_msgs

Published topics

  • /global_path/path (std_msgs/Int32MultiArray)
  • /global_path/path/viz (visualization_msgs/MarkerArray)

Subscribed topics

  • /node_edge_map/map (amsl_navigation_msgs/NodeEdgeMap)
  • /node_edge_map/checkpoint (std_msgs/Int32MultiArray)
  • /estimated_pose/edge (amsl_navigation_msgs/Edge)

Services

  • /global_path/replan (amsl_navigation_msgs/Replan)

Parameters

  • init_node0_id
    • node id of the begin of initial edge (default: 0)
  • init_node1_id
    • node id of the end of initial edge (default: 1)
  • init_progress
    • initial progress on initial edge (default: 0.0)