dwa_planner

Enviornment

• Ubuntu 16.04 or 18.04
• ROS Kinetic or Melodic

Install and Build

cd catkin_workspace/src
git clone https://github.com/amslabtech/dwa_planner.git
cd ..
catkin_make

Nodes

dwa_planner

• local planner node

Published topics

• /cmd_vel (geometry_msgs/Twist)
• ~/candidate_trajectoryies (visualization_msgs/MarkerArray)
  • for visualization
• ~/selected_trajectory (visualization_msgs/Marker)
  • for visualization

Subscribed topics

• /local_goal (geometry_msgs/PoseStamped)
  • the local goal must be in the local map
• /local_map (nav_msgs/OccupancyGrid)
  • robot-centered costmap
• /odom (nav_msgs/Odometry)
  • robot odometry

Parameters

• HZ
  • main loop rate (default: 20[Hz])
• TARGET_VELOCITY
  • max velocity of robot's target velocity (default: 0.8[m/s])
• ROBOT_FRAME
  • robot's coordinate frame (default: base_link)

Runtime requirement

• TF (from LocalMap_FRAME to ROBOT_FRAME) is required

How to Use

• for local path planning

roslaunch dwa_planner local_planner.launch

References

• D. Fox, W. Burgard, and S.Thrun, "The dynamic window approach to collision avoidance", IEEE Robotics Automation Magazine, 1997.

(https://ieeexplore.ieee.org/abstract/document/580977)