Question about TurtleBot3 navigation

[HubertRoginski]

I work with a robot(Turtlebot3 burger) and I can not find anywhere about which algorithm is used by default in navigation global planner. I know that local planner is dynamic window approach(dwa_local_planner). The only information about global planner I found was the algorithm Rapidly Exploring Random Trees (RRT), but I do not know if this is the default setting. I will add that I did not change anything in the robot settings, I use official packages. I am asking for clarification of the problem and information about the navigation algorithms used. I generally need information on what happens in the program when I set the "2D Nav Goal" in RVIZ during navigation.

[kijongGil]

Hi, @HuberRoginski :) Turtlebot3 navigation use move_base and amcl package. Local planner and global planner are in move_base. Thanks, Gilbert

[HubertRoginski]

Hi, @kijongGil :) In my turtlebot3_navigation-> move_base.launch i have only base_local_planner. Based on what you said, I checked the move_base package, there are parameters: ~base_global_planner (string, default: "navfn/NavfnROS" For 1.1+ series) ~base_local_planner (string, default: "base_local_planner/TrajectoryPlannerROS" For 1.1+ series)

But I still do not know what algorithm is used, A*, Dijkstra's, High-speed Navigation Using the Global Dynamic Window Approach, Rapidly Exploring Random Trees (RRT)? Can you just write what algorithm is used in Turtlebot3 for the local planner and global planner?

[routiful]

The default planner in TurtleBot3 is Dynamic Window Approach Planner (http://wiki.ros.org/dwa_local_planner)

[robograffitti]

@HubertRoginski Read about move_base: http://wiki.ros.org/move_base

Then, you find:

~base_global_planner (string, default: "navfn/NavfnROS" For 1.1+ series)

Next, read here: http://wiki.ros.org/nav_core

Then, you find:

navfn - A grid-based global planner that uses a navigation function to compute a path for a robot. (pluginlib name: "navfn/NavfnROS")

Finally, your answer is here: http://wiki.ros.org/navfn

[HubertRoginski]

I found in the book "ROS Navigation Tuning Guide" Kaiyu Zheng September 2, 2016 this: Link: http://cs.stanford.edu/group/manips/publications/pdfs/Brock_1999_ICRA.pdf This is about "High-speed Navigation Using the Global Dynamic Window Approach " Everything you said is true, but can anyone explain to me in a simple way what Global Dynamic Window Approach is responsible for, and what Djikstra's algorithm is for.(during navigation)

[KimHyung]

global planner (navfn/NavfnROS) uses Dijkstra's algorithm. local planner uses DWA's algorithm.

[HubertRoginski]

Thanks, that is the best answer.

[aliozcan01]

global planner (navfn/NavfnROS) uses Dijkstra's algorithm. local planner uses DWA's algorithm.

Best answer... Thank you !

[palwanishan]

How can I use another algorithms for global and local planners?