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Robot Operating System Cookbook by Kumar Bipin

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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

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