• Ubuntu 20.04
• ROS Noetic

cd catkin_workspace/src
git clone https://github.com/amslabtech/dwa_planner.git
cd dwa_planner
catkin build --this

• /scan
  • Default input is /local_map
  • If /scan is used, set use_scan_as_input to true
• /footprint
  • robot footprint
  • If /footprint is used, set use_footprint to true
  • footprint_publisher node in amsl_navigation_utils repository publishes rectangular footprint
• /path
  • for path cost
  • Default evaluation does not use path cost
  • If path cost is used, set use_path_cost to true
    • Give a part of the global path (edge)

• HZ
  • main loop rate (default: 20[Hz])
• TARGET_VELOCITY
  • max velocity of robot's target velocity (default: 0.55[m/s])
• ROBOT_FRAME
  • robot's coordinate frame (default: base_link)

• TF (from LocalMap_FRAME to ROBOT_FRAME) is required

• for local path planning

roslaunch dwa_planner local_planner.launch

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

(https://ieeexplore.ieee.org/abstract/document/580977)