Package Summary
A modified version of move_base where the global planner runs in its own thread on a clock like the local planner does.
- Author: Eitan Marder-Eppstein, Mike Phillips
- License: BSD
- Repository: penn-ros-pkg
- Source: svn https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_dynamic_env/tags/sbpl_dynamic_env-0.1.1
Contents
Note: This package has been integrated into the ROS navigation stack as of E-Turtle.
Overview
A modified version of move_base that runs the global planner in parallel with the local planner (in a separate thread). The two planners run on two user-defined frequencies. Running the global planner on a clock is particularly useful in changing environments (or environments that are only partially known in advance). It can also recover quicker when the local planner deviates from the path too much, since it doesn't need to stop while a new plan is made. The global planner replans on a clock and the local planner always follows the most recent path produced by the global planner. The hand-off is done with an efficient triple-buffer system with pointer swapping. When the global planner is not in use (like when the robot has arrived at the goal, or if the user wants the node to behave like the original move_base) the planner thread suspends itself until it is needed again.
ROS API
This list only includes new parameters. The rest of the parameters (as well as subscribers and publishers) can be found at the move_base package this one is based on.
Parameters
planner_frequency (double, default: 0.0)- This is the desired frequency for the global planner. If the value is less than or equal to 0, the node works like the original move_base (only plan when there is a new goal or the local planner fails). By default this node operates like the original move_base.
