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 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