qaz9517532846 / zm_local_planner

zm_local_planner simple local planner is following global planner.

zm_local_planner

• zm_local_planner is a simple local planner to follow global planner for a Differential mobile robot.

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Built with

• ROS Noetic under Ubuntu 20.04 LTS

• ROS Melodic under Ubuntu 18.04 LTS

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Getting Started

Installation

• Download zm_local_planner github link.

$ git clone -b diff https://github.com/qaz9517532846/zm_local_planner.git

Run

• zm_local_planner add to move_base.launch file.

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="zm_local_planner/ZMLocalPlanner" />
    <rosparam file="$(find zm_robot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find zm_robot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find zm_robot_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find zm_robot_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find zm_robot_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find zm_local_planner)/param/zm_local_planner_params.yaml" command="load" />
    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
  </node>

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Reference:

[1]. rto_core. https://github.com/dietriro/rto_core

[2]. robotino_local_planner. http://wiki.ros.org/robotino_local_planner

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Copyright © 2021 ZM Robotics Software Laboratory.