分享一下早期绘制的dwb_local_planner的类图,是navigation2中的源码拆解 按照package的归类进行拆分。总体关系如下图所示: 由于上传原因,图片可能虚了,可以从附件中获取原图。 dwb_local_planner.png 97.2K· 百度网盘发布于 2023-12-05 21:01・IP 属地北京...
Binary file addedBIN+94.9 KBsource/images/dwb_local_planner.png Loading 156 changes: 156 additions & 0 deletions156source/uml/controller.puml Original file line numberDiff line numberDiff line change @@ -0,0 +1,156 @@ @startuml 'https://plantuml.com/class-diagram ...
FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 max_vel_x: 0.26 max_vel_y: 0.0 max_vel_theta: 1.0 min_speed_xy: 0.0 max_speed_xy: 0.26 min_speed_theta: 0.0 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 dec...
plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 max_vel_x: 0.26 max_vel_y: 0.0 max_vel_theta: 1.0 min_speed_xy: 0.0 max_speed_xy: 0.26 min_speed_theta: 0.0 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 decel_lim_x: ...
Description of contribution in a few bullet points Add remarks ondwb_local_planner.hppheader file. Description of documentation updates required from your changes with reference tonavfn_planner Future work that may be required in bullet points
plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 max_vel_x: 0.26 max_vel_y: 0.0 max_vel_theta: 1.0 min_speed_xy: 0.0 max_speed_xy: 0.26 min_speed_theta: 0.0 acc_lim_x: 2.5 ...
<dwb plugin>.publish_local_plan [待校准@3116] 描述是否公布当地的planner计划。 [待校准@3117] <dwb plugin>.publish_trajectories [待校准@3118] 描述是否发布调试轨迹。 [待校准@3119] ...