TangentPlanner

ROS plugin for the base local planner which uses the tangent bug algorithm

This plugin adheres to the BaseLocalPlanner interface in the nav_core package.

Todo

• Edit implementation to work with limited range LIDAR

Installation

Change directory to your ROS workspace and then type the following:

cd src
git clone https://github.com/ibrahimjad/tangent_planner.git
cd -

catkin build tangent_planner
source ~/.bashrc

In the move_base launch file, change the value of base_local_planner parameter to tangent_planner/TangentPlanner

Load the parameters in the param/tangent_planner_params.yaml.

Tangent Bug Algorithm

Explaination of how the algorithm work can be found here