dwa_local_planner 1.17.3 This package provides an implementation of the Dynamic Window Approach to local robot navigation on a plane. Given a global plan to follow and a costmap, the local planner produces velocity commands to send to a mobile base. This package supports any robot who's footprint can be represented as a convex polygon or cicrle, and exposes its configuration as ROS parameters that can be set in a launch file. The parameters for this planner are also dynamically reconfigurable. This package's ROS wrapper adheres to the BaseLocalPlanner interface specified in the nav_core package. Eitan Marder-Eppstein contradict@gmail.com David V. Lu!! Michael Ferguson Aaron Hoy BSD http://wiki.ros.org/dwa_local_planner catkin angles cmake_modules base_local_planner costmap_2d dynamic_reconfigure eigen nav_core nav_msgs pluginlib sensor_msgs roscpp tf2 tf2_geometry_msgs tf2_ros