teb_local_planner_tutorials

This package contains supplementary material and examples for teb_local_planner tutorials.

The tutorials package mainly contains fully working robot navigation examples in combination with the teb_local_planner. Currently it provides a differential drive and a carlike robot simulation setup. In order to depend on as few dependencies as possible, the simulations are performed with stage_ros and without any URDF models. However, they are easily extendable and integrable (e.g. Gazebo, URDF models, voxel costmaps, robot hardware nodes, ...).

Refer to the teb_local_planner ROS wiki page for more information.

Using

(Tested OK on ubuntu 18.04 LTS + ros-melodic)

• install navigation stack and teb_local_planner package
• Build fixed stage_ros:

$ git clone https://github.com/AMRobots/stage_ros.git
$ cd ../
$ catkin_make --only-pkg-with-deps stage_ros
$ source devel/setup.bash