teb_local_planner installation and use

  teb_local_planner detailed information (including installation and navigation, parameter adjustment, etc.) refer to its ros official document: http: //wiki.ros.org/teb_local_planner,http: //wiki.ros.org/teb_local_planner/Tutorials. teb_local_planner the github source: https: //github.com/rst-tu-dortmund/teb_local_planner. In this brief teb_local_planner of installation experience.

        The navigation teb_local_planner Lane base_local_planner Alternatively, the mechanism so as to base_local_planner plugin mechanism and the ros. The plugin can be used in reference: http: //www.cnblogs.com/W-chocolate/p/4328725.html.

        

        teb_local_planner installation procedure is as follows (note that for the ros kenetic Edition):

        1, the installation-dependent:

              rosdep the install teb_local_planner

              (such have been used unsuccessfully in the attached dependent indigo versions in the source code needs to filter out and CMakeList.txt missing package.xml dependencies and install)

         2, github to download Source: HTTPS: //github.com/rst-tu-dortmund/teb_local_planner

         . 3, into the workspace / src folder

        4, catkin_make -DCATKIN_WHITELIST_PACKAGES = "Source file storage folder name" (compiled separately teb_local_planner)

               compiler compiler takes a long time (nearly two hours I come in raspberry compile time)

         5, to see whether teb_local_planner the plugin installation is complete

              rospack plugins --attrib = plugin nav_core

              if they can query to teb_local_planner, and ready for the show.

       It is worth mentioning that, teb_local_planner source code on plugin configuration file have been written, directly compile the source code to complete the registration and insert plugin and very convenient.

      

        teb_local_planner use and base_local_planner the same, then briefly. Ros default already familiar with the use of navigation.

         1, the new teb_local_planner profile teb_local_planner_params.yaml

              Here I stole a lazy, downloaded directly from the tutorials:

              git clone https://github.com/rst-tu-dortmund/teb_local_planner_tutorials.git

              find in / cfg in teb_local_planner_params.yaml. The use of robot odom differential mode, so the selection of diff_drive.

        2, will be placed teb_local_planner_params.yaml and navigation in other configuration files (such as costmap_common_params.yaml, etc.) together for easy access to call. Personal habits such, can hold together.

         3, load at the start of the launch file navigation above configuration file

      <pkg = the Node "move_base" of the type = "move_base" respawn = "false" name = "move_base" the Output = "Screen">
         ...
        <rosparam File = "$ (the Find my_robot_name_2dnav) /base_local_planner_params.yaml "the Command =" the Load "/>
         ...
      </ the Node>

         4, in a statement to start the launch file base_local_planner navigation using previously registered plugin

      <pkg = the Node" move_base "of the type =" move_base "the respawn =" to false "name =" move_base "Output =" Screen ">
        ...
        <param name ="



                Of course, you can also select statement in move_base_params.yaml in.

          5, start navigation, the path will rviz three out of tune, you can observe the process of planning robot navigation path.

       In addition, the parameters can be dynamically adjusted to achieve the best performance of the robot to navigate through rosrun rqt_reconfigure rqt_reconfigure. About parameter adjustment method, refer to its ros official documents. Actual experience point of view, the use of the default download from teb_local_planner_tutorials down parameters to achieve the performance has been much better than the performance of the original navigation path planning algorithm in. I think the value teb_local_planner very large.
 
Original link: https: //blog.csdn.net/xiekaikaibing/article/details/80197164