dwa_planner

Overview

ROS implementation of DWA(Dynamic Window Approach) Planner

The API documentation is available at https://amslabtech.github.io/dwa_planner/

Note: This simulator is not provided.

Environment

• Ubuntu 20.04
• ROS Noetic

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/amslabtech/dwa_planner.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build dwa_planner -DCMAKE_BUILD_TYPE=Release     # Release build is recommended

How to use

roslaunch dwa_planner local_planner.launch

Running the demo with docker

git clone https://github.com/amslabtech/dwa_planner.git && cd dwa_planner

# build an image, create a container and start demo (Ctrl-c: stop a container and exit)
docker compose up
# remove a container
docker compose down

Running the demo without docker

Using simulator

# clone repository
cd /path/to/your/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release

# run demo
export TURTLEBOT3_MODEL=burger
roslaunch dwa_planner demo.launch

Node I/O

Published/Subscribed Topics

Access here

Runtime requirement

• TF (from GLOBAL_FRAME to ROBOT_FRAME) is required

Parameters

Access here

References

• D. Fox, W. Burgard, and S.Thrun, "The dynamic window approach to collision avoidance", IEEE Robotics Automation Magazine, 1997.