How to navigate a real robot with occupancy map provided by other packages?

karlkurzer / path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle

http://karlkurzer.github.io/path_planner/

BSD 3-Clause "New" or "Revised" License

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How to navigate a real robot with occupancy map provided by other packages? #45

Closed yunxdai closed 2 years ago

yunxdai commented 3 years ago

Thanks a lot for this fantastic work! Currently I'm working on integrating this package on my own robot platform. Since you mentioned this package was tested on your own vehicle, could you please give some suggestions on how this package receives occupancy map which is updated online by other perception packages, and how to interact with the ROS navigation stack for navigation? It would be better if you can provide detailed instructions!

jtoobias commented 3 years ago

Did you happen to figure out the way to integrate this with the navigation stack for move base? I'm currently looking at changing the code so it can work with move base (nav_core::BaseGlobalPlanner) as a plugin but was hoping that there is an already defined way or an easy method that I am overlooking.

yunxdai commented 3 years ago

Did you happen to figure out the way to integrate this with the navigation stack for move base? I'm currently looking at changing the code so it can work with move base (nav_core::BaseGlobalPlanner) as a plugin but was hoping that there is an already defined way or an easy method that I am overlooking.

Sorry, but I didn't find out the way to integrate this repo with move_base. Actually, I set aside this work after this issue, so I didn't investigate deep into this problem. If you manage to do it, could you please share the method?