ROS Local planner based on the eband approach. Based on the original implementation by Christian Connette and Bhaskara Marathi. This local planner has been adapted primarily for differential drive robots, but still supports the original holonomic drive controls.
As many have probably realized, in order for the robot deal with dynamic obstacles with this planner, it's necessary to duplicate the costmap obstacle layers on both the local and global maps. This becomes a big resource hog when using computationally intensive layers like 3d voxel layers. It would be great if this planner took the global plan and acted on it solely based on its own local cosmap layers, and it didn't require all layers to be on both global and local planners.
As many have probably realized, in order for the robot deal with dynamic obstacles with this planner, it's necessary to duplicate the costmap obstacle layers on both the local and global maps. This becomes a big resource hog when using computationally intensive layers like 3d voxel layers. It would be great if this planner took the global plan and acted on it solely based on its own local cosmap layers, and it didn't require all layers to be on both global and local planners.