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Package Summary

Tags No category tags.
Version 0.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/dorezyuk/gpp.git
VCS Type git
VCS Version master
Last Updated 2021-02-18
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The gpp_interface package defines the interfaces for pre and post-planning inside the global_planner_pipeline framework

Additional Links

No additional links.

Maintainers

  • Dima Dorezyuk

Authors

No additional authors.

GppInterface

This package defines two additional plugin-types: PrePlanning and PostPlanning plugins. These plugins will be loaded and executed by the GppPlugin.

PrePlanning

The pre-planning plugins will be executed before the global-planners are run. They should modify the input to the planning plugins. The pre-planning plugins are allowed to - alter the start and goal poses,

This allows the you to implement for example a common tolerance function for all planners, or to update the global_costmap only when required.

PostPlanning

The post-planning plugins are run after the global planners. The should modify the output of the planning plugins. The post-planning plugins are allowed to - alter the path, - alter the cost.

Here, the user may implement common post-processing steps like - path-pruning or densifying, - trajectory smoothing, - trajectory oscillation checks, - feasibility checks

CHANGELOG

Changelog for package gpp_interface

0.0.1 (2021-01-27)

  • add gpp_update_map
  • add gpp_prune_path example
  • formatting
  • update docs
  • disable spam in the test
  • Dima/dev
  • adjust doc
  • update documentation
  • add licence
  • init
  • Contributors: Dima Dorezyuk

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged gpp_interface at answers.ros.org

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