Create ROS global planner plugin from Hybrid A Star #7
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Great job, but yeah it's quite not clean. I think you could split it into small commits. |
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Hi dear,
Your implementation is amazing ! thank again for your works.
I tried to wrap your code into a ROS global planner plugin to be able to work with navigation stack. I briefly test it with a real forklift (tricycle drive) and it seems working but i don't guarantee the reliability, specially for obstacle checking - it does not use costmap layers-. In addition, the code might not be clean.
Please feel free to comment or to point something wrong !
Thank you