base_local_planner
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.. raw:: html

    <p>This package provides implementations of the Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane. Given a plan to follow and a costmap, the controller produces velocity commands to send to a mobile base. This package supports both holonomic and non-holonomic robots, any robot footprint that can be represented as a convex polygon or circle, and exposes its configuration as ROS parameters that can be set in a launch file. This package's ROS wrapper adheres to the BaseLocalPlanner interface specified in the <a href="http://wiki.ros.org/nav_core">nav_core</a> package.</p>

**Maintainers:** `Michael Ferguson <mailto:mfergs7@gmail.com>`_, `David V. Lu!! <mailto:davidvlu@gmail.com>`_, `Aaron Hoy <mailto:ahoy@fetchrobotics.com>`_

**Authors:** Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com

**License:** BSD

**API:** `doxygen <html/index.html>`_ 


.. toctree::
    :titlesonly:

    Changelog <CHANGELOG>