dwa_planner
Overview
ROS implementation of DWA(Dynamic Window Approach) Planner
The API documentation is available at https://amslabtech.github.io/dwa_planner/
Note: This simulator is not provided.
demo 1
Environment
- Ubuntu 20.04
- ROS Noetic
Install and Build
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/amslabtech/dwa_planner.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build dwa_planner -DCMAKE_BUILD_TYPE=Release # Release build is recommended
How to use
roslaunch dwa_planner local_planner.launch
Running the demo with docker
git clone https://github.com/amslabtech/dwa_planner.git && cd dwa_planner
# build an image, create a container and start demo (Ctrl-c: stop a container and exit)
docker compose up
# remove a container
docker compose down
Running the demo without docker
Using simulator
# clone repository
cd /path/to/your/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release
# run demo
export TURTLEBOT3_MODEL=burger
roslaunch dwa_planner demo.launch
demo 2
Node I/O
Node I/O
Published/Subscribed Topics
Access here
Runtime requirement
- TF (from GLOBAL_FRAME to ROBOT_FRAME) is required
Parameters
Access here