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Plans a path from where you are now to a goal.
The goalplanner plans a path from the current position of a robot to a global world coordinate (or a series of coordinates - a coarse path). It currently uses PathPlanner for planning. It sends the resulting fine path to a local navigator, e.g. LocalNav.
GoalPlanner acts as a proxy for another PathFollower2d interface.
You send it a path, it will consult with a PathPlanner2d interface to add intermediate waypoints so that a local path planner can follow it. The detailed path will then be forwarded to the lower-level PathFollower2d.
If you ask it what path was set, it'll give you the detailed path. If you subscribe() to the interface, it'll actually subscribe you directly to the low-level PathFollower2d interface.
The following happens in sequencential order in the mainloop:
Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)