February 2018
Beginner
580 pages
13h 20m
English
Content preview from Mastering ROS for Robotics Programming - Second Edition
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Displaying the global plan, the local plan, and the planner plan
In the next figure, the global, local, and planner plans are shown. In this context, the planner and the global plans represent the complete plan to reach the goal. The local plan represents a short-term plan to follow the global planning. The global plan and the planner plan can be changed if there are any obstacles. The plans can be displayed using the Path display type in RViz:
- Global plan topic: /move_base/DWAPlannerROS/global_plan
- Global plan topic type: nav_msgs/Path
- Local plan topic: /move_base/DWAPlannerROS/local_plan
- Local plan topic type: nav_msgs/Path
- Planner plan topic: /move_base/NavfnROS/plan
- Planner plan topic type: nav_msgs/Path
Figure 19: Visualizing the ...