June 2018
Intermediate to advanced
484 pages
11h 36m
English
Content preview from Robot Operating System Cookbook
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Local plan
The local plan shows the trajectory associated with the velocity control commands currently being sent to the base controller by the local planner:
- Topic: TrajectoryPlannerROS/local_plan
- Type: nav_msgs/Path
We can see that the trajectory in green is in front of the robot, as shown in the following screenshot, which shows whether the robot is moving and the length of the blue line approximate to velocity:
Local plan