跑了一下，跟你视频的效果完全不一样，不知道什么原因

[1508189250]

[fetty31]

Hi @1508189250

Could you provide more information? Currently this controller is highly tuned for a double-ackermann robot with 6 traction wheels.

[1508189250]

I see in your video that the local planner also includes a segment of local path planning, and then uses MPPI to track this local path. Simply using MPPI alone for obstacle avoidance does not work well.

[1508189250]

remotes/origin/noetic-guidance
remotes/origin/noetic-hybrid-astar Do the two branches have the dependent packages "guidance" and "hybrid-astar"?

[fetty31]

Hi @1508189250,

Yes in the video you can see an OSM-based high-level planner, the navfn planner and then the MPPI trajectories. This was done for a specific configuration of ros-nav, where a custom Global Planner is just publishing OSM waypoints (graph nodes), so a mid-planner was needed to compute some path.

In the noetic branch there is a navfn wrapper that can act as mid-planner inside the MPPI controller. This is controlled with the MPPIPlannerROS/GeneralSettings/use_local_planner parameter. If you do not need any OSM Global Planner, you can just use the navfn (or whatever planner) as Global Planner and deactivate the use_local_planner param.

Notice that in the master branch, which is ROS2-humble, this navfn wrapper is not longer there, so the Global Planner (just called Planner is ros2) should compute trajectories coming from the robot.

The branches noetic-guidance and noetic-hybrid-astar are currently deprecated and I cannot ensure that they work properly. The branch noetic-guidance depends on the guidance_planner pkg and the noetic-hybrid-astar branch depends on hybrid_astar project.