search

nobleo / full_coverage_path_planner

Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area
Apache License 2.0
528 stars 147 forks source link

Different local planner for dynamic obstacle avoidance #16

Open joehopkinson opened 3 years ago

joehopkinson commented 3 years ago

Is it possible to use this package in conjunction with a local planner other than tracking_pid in order to allow dynamic obstacle avoidance? How would I go about doing this?

Thanks.

Timple commented 3 years ago

Yes, that should be possible. Simply select a different local planner of your choosing.

This plugin is merely a global_planner. So it should work with all local planners. Although not all local planners might be happy with the in-place turns in the paths. There is room for improvement there.