- Set up and test Optimization
In this tutorial you will learn how to run the trajectory optimization and how to change the underlying parameters in order to setup a custom behavior and performance.
- Inspect optimization feedback
In this tutorial you will learn how to inspect feedback of optimized trajectories; an example is presented which visualizes the velocity profile of the currently selected trajectory.
- Configure and run Robot Navigation
In this tutorial you will learn how to set up the teb_local_planner as local planner plugin for the navigation stack.
- Obstacle Avoidance and Robot Footprint Model
In this tutorial you will learn how obstacle avoidance is realized. Necessary parameter settings with a major focus on the robot footprint model and its influences are described.
- Following the Global Plan (Via-Points)
In this tutorial you will learn how to configure the local planner to follow the global plan more strictly. In particular you will learn how to adapt the tradeoff between time-optimality and path-following.
- Costmap conversion
In this tutorial you will learn how to apply costmap conversion plugins to convert occupied costmap2d cells to geometric primitives for optimization (experimental).
- Planning for car-like robots
In this tutorial you will learn how to set up the planner for car-like robots (experimental).
- Planning for holonomic robots
In this tutorial you will learn how to set up the planner for holonomic robots (experimental).
- Incorporate customized Obstacles
In this tutorial you will learn how to take polygon-shaped obstacles published from other nodes into account.
- Incorporate dynamic obstacles
In this tutorial you will learn how to take dynamic obstacles published from other nodes into account.
- Track and include dynamic obstacles via costmap_converter
In this tutorial you will learn how to utilize the costmap converter to easily track dynamic obstacles based on costmap updates.
- Frequently Asked Questions
This page tries to answer and explain frequently asked questions regarding the teb_local_planner.
Create a new tutorial: