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simple_global_planner

This package provides the simplest global planner for move_base.
The planner will just bind start and goal points linearly.
Then, make a path by following parameter named resolution.
Whatever the goal point is on the obstacle or not, this planner DOES NOT CARE, and generates a path.

Installation

1. Just put this package into your catkinized workspace by git clone.

$ cd <catkin_ws>/src
$ git clone https://github.com/RyodoTanaka/simple_global_planner.git

2. Build it

To use catkin build (catkin tools) is recommended.

$ cd <catkin_ws>
$ catkin build

3. Path setting

$ cd <catkin_ws>
$ source devel/setup.bash

Usage

Setup as the global_planner for move_base.
The following setting is the example for move_base configuration.

base_global_planner: simple_global_planner/SimpleGlobalPlanner
SimpleGlobalPlanner:
  resolution: 50

Parameter

resolution

The path resolution between start and goal points.
default: 50