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gkouros / rsband_local_planner

A ROS move_base local planner plugin for Car-Like robots with Ackermann or 4-Wheel-Steering.
BSD 3-Clause "New" or "Revised" License
161 stars 51 forks source link

Why preprocess the global plan using the elatic band algorithm? What is the purpose of doing this? #17

Closed gycyr closed 3 years ago

gycyr commented 3 years ago 
if(!ebandPlanner_->setPlan(transformedPlan_))
{
  costmapROS_->resetLayers();
  if(!ebandPlanner_->setPlan(transformedPlan_))
  {
    ROS_ERROR("Setting plan to Elastic Band failed!");
    return false;
  }
}

planStartEndCounters_ = planStartEndCounters;

if (!ebandPlanner_->optimizeBand())
  ROS_WARN("Optimization of eband failed!");
gycyr commented 3 years ago

Thanks in advance.

gkouros commented 3 years ago

Hi gycyr, I added the elastic band algorithm to rsband planner in order to achieve dynamic obstacle avoidance. Of course, you can try it without the elastic band. It shouldn't be too hard to test. Best regards, George

gycyr commented 3 years ago

I understand. Thank you for your response.