teb_local_planner | optimal trajectory planner | Robotics library

by rst-tu-dortmund C++ Version: 0.1.3 License: BSD-3-Clause

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kandi X-RAY | teb_local_planner Summary

teb_local_planner is a C++ library typically used in Automation, Robotics applications. teb_local_planner has no bugs, it has no vulnerabilities, it has a Permissive License and it has medium support. You can download it from GitHub.

The teb_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. The underlying method called Timed Elastic Band locally optimizes the robot’s trajectory with respect to trajectory execution time, separation from obstacles and compliance with kinodynamic constraints at runtime. Refer to for more information and tutorials. Build status of the melodic-devel branch: - ROS Buildfarm (Melodic):

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Quality

Security

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Support

teb_local_planner has a medium active ecosystem.

It has 794 star(s) with 494 fork(s). There are 44 watchers for this library.

It had no major release in the last 12 months.

There are 123 open issues and 137 have been closed. On average issues are closed in 119 days. There are 22 open pull requests and 0 closed requests.

It has a neutral sentiment in the developer community.

The latest version of teb_local_planner is 0.1.3

Quality

teb_local_planner has 0 bugs and 0 code smells.

Security

teb_local_planner has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.

teb_local_planner code analysis shows 0 unresolved vulnerabilities.

There are 0 security hotspots that need review.

License

teb_local_planner is licensed under the BSD-3-Clause License. This license is Permissive.

Permissive licenses have the least restrictions, and you can use them in most projects.

Reuse

teb_local_planner releases are available to install and integrate.

Installation instructions are not available. Examples and code snippets are available.

It has 55 lines of code, 0 functions and 2 files.

It has low code complexity. Code complexity directly impacts maintainability of the code.

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teb_local_planner Key Features

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teb_local_planner Examples and Code Snippets

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Community Discussions

Trending Discussions on teb_local_planner

Switching ROS local planner in pre-existing project

QUESTION

Switching ROS local planner in pre-existing project

Asked 2019-Mar-03 at 15:32

Currently, I am working on a autonomous robot, which has a non-standard method of steering. Rather than using tank steering, it instead has two pivot wheels in the rear and two front-powered wheels. Because the base_local_planner that is currently being used does not have any support for this setup, the planning is basically useless.

The core question is: Is it possible to change the local planner used from base_local_planner to something like the teb_local_planner, which at least has support for the shape of the robot, and how would something like this be achieved?

Additional information:

RVIZ is used for the cost-maps.
Linux distro is Kinetic
Current planner is base_local_planner
global planner used is global_planner

...

ANSWER

Answered 2019-Mar-03 at 15:32

I believe that the local planners you are talking about only support differential steering or skid steering. Sounds like your robot is more similar to Ackermann steering. I am not aware of any out of the box options for Ackermann in ROS, but I do know it has been done with hamster, if you can find how they did it, it might solve your issue.

Source https://stackoverflow.com/questions/54885567

Community Discussions, Code Snippets contain sources that include Stack Exchange Network

Vulnerabilities

No vulnerabilities reported

Install teb_local_planner

You can download it from GitHub.

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