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RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.
BSD 3-Clause "New" or "Revised" License
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Add teb local planner #182

Closed serraramiro1 closed 4 years ago

serraramiro1 commented 4 years ago

Adds teb local planner, a planner that finds the path that will take the least to be executed. This means, going backwards, turning while moving, etc. Quick showcase: teb planner

Setting LOCAL_PLANNER=teb env variable will enable the planner.

The gif was recorded with: LOCAL_PLANNER=teb RVIZ_CONFIG=navigation LOCALIZATION=amcl roslaunch ca_gazebo create_house.launch

eborghi10 commented 4 years ago

Travis build passing so far :+1:

BTW, I don't know why Travis stopped reporting the error,

eborghi10 commented 4 years ago

One more comment, you need to add TEB as dependency in ca_move_base package.

eborghi10 commented 4 years ago

Running instructions?