base_local_planner

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 nav_core package.

Maintainers: Michael Ferguson, David V. Lu!!, Aaron Hoy

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

License: BSD

API: doxygen

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