neo_local_planner

Summary

The neo_local_planner package provides a simple but effective local planner plugin for move_base.

It supports both differential type and holonomic type platforms.

It is installed and used by Neobotix platforms as of February 2020 by default.

Working

The neo_local_planner employs a pure-pursuit control technique to follow the give global path. Based upon the look-ahead distance and look-ahead time, the velocity commands are generated.

Based upon the look-ahead distance, the local path is updated for each and every control step.

Warning

Currently the allow_reversing parameter will allow the robot to drive in the reverse direction. This feature is experimental. Also note that our differential robots does not have laser scanners by default and hence we do not recommend that behavior and it should be done at your own risk.

Parameters

See differential example .

See holonomic example .

Video Demo