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Note: This package has been integrated into the ROS navigation stack as of E-Turtle.

Overview

A modified version of move_base that runs the global planner in parallel with the local planner (in a separate thread). The two planners run on two user-defined frequencies. Running the global planner on a clock is particularly useful in changing environments (or environments that are only partially known in advance). It can also recover quicker when the local planner deviates from the path too much, since it doesn't need to stop while a new plan is made. The global planner replans on a clock and the local planner always follows the most recent path produced by the global planner. The hand-off is done with an efficient triple-buffer system with pointer swapping. When the global planner is not in use (like when the robot has arrived at the goal, or if the user wants the node to behave like the original move_base) the planner thread suspends itself until it is needed again.

ROS API

This list only includes new parameters. The rest of the parameters (as well as subscribers and publishers) can be found at the move_base package this one is based on.

Parameters

planner_frequency (double, default: 0.0)

2019-07-13 12:57