dwa_local_planner

This package provides an implementation of the Dynamic Window Approach to local robot navigation on a plane. Given a global plan to follow and a costmap, the local planner produces velocity commands to send to a mobile base. This package supports any robot who's footprint can be represented as a convex polygon or cicrle, and exposes its configuration as ROS parameters that can be set in a launch file. The parameters for this planner are also dynamically reconfigurable. This package's ROS wrapper adheres to the BaseLocalPlanner interface specified in the nav_core package.

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

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

License: BSD

API: doxygen

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