ROS plugin for the base local planner which uses the tangent bug algorithm
This plugin adheres to the BaseLocalPlanner interface in the nav_core package.
- Edit implementation to work with limited range LIDAR
Change directory to your ROS workspace and then type the following:
cd src
git clone https://github.com/ibrahimjad/tangent_planner.git
cd -
catkin build tangent_planner
source ~/.bashrcIn the move_base launch file, change the value of base_local_planner parameter to tangent_planner/TangentPlanner
Load the parameters in the param/tangent_planner_params.yaml.
Explaination of how the algorithm work can be found here
