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ROS implementation of DWA(Dynamic Window Approach) Planner

License: BSD 3-Clause "New" or "Revised" License

CMake 27.00% C++ 70.30% Dockerfile 2.70%

dwa_planner's Introduction

dwa_planner

CI issue_opened issue_closed

demo_dwa

Enviornment

  • Ubuntu 16.04, 18.04 or 20.04
  • ROS Kinetic, Melodic, or Noetic

Install and Build

cd catkin_workspace/src
git clone https://github.com/amslabtech/dwa_planner.git
cd ..
catkin_make

Node I/O

dwa_planner I/O diagram

Parameters

  • HZ
    • main loop rate (default: 20[Hz])
  • TARGET_VELOCITY
    • max velocity of robot's target velocity (default: 0.8[m/s])
  • ROBOT_FRAME
    • robot's coordinate frame (default: base_link)

Runtime requirement

  • TF (from LocalMap_FRAME to ROBOT_FRAME) is required

How to Use

  • for local path planning
roslaunch dwa_planner local_planner.launch

References

  • 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)

dwa_planner's People

Contributors

ibuki1805 avatar jumpei-arima avatar naoya-sugiura avatar

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