What is the standard way for implementing motion planning algorithms?

[KenanA17]

Hello, I'm trying to implement some planning algorithms for multiple vehicles. Now I can send a waypoint file (by using the provided ros service for that) and that works fine, if I were to calculate all points before the simulation (or somehow dynamically build needed yaml files during the simulation). I could also use the service 'go_to' for giving reference points, which are calculated via the algorithm during the simulation (this should work perfectly fine I guess). I could also modify the '_update_reference' method in the 'DPControllerBase' class. I understand there are multiple ways to do this, but is there some 'standard' way for this typical problem: - Vehicle receives some data, then perform its planning algorithm which gives it the next point to go to. Now which 'code entry point' to use to send it to this point ('go_to' service seems good to me).

Great repository by the way!

[pxalcantara]

Hi @KenanA17 is this questions still makes sense?