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.
The elastic band is only maintained within the local costmap window. Whenever the robot moves, new portions of the global plan are visible, and added to the band.
In case new portions of the path cannot be added to the band, eband_local_planner continues to operate, and pretends to successfully complete after reaching the obstacle.
The elastic band is only maintained within the local costmap window. Whenever the robot moves, new portions of the global plan are visible, and added to the band.
In case new portions of the path cannot be added to the band, eband_local_planner continues to operate, and pretends to successfully complete after reaching the obstacle.