Overview

NOTE: This package is currently unreleased and contains experimental code.

sbpl_lattice_planner_3d is based on the sbpl_lattice_planner global planner and adheres to the nav_core::BaseGlobalPlanner interface found in the nav_core package. It is supposed to work as a global planner in accordance with the pose_follower_3d local planner in move_base.

sbpl_lattice_planner_3d applies sbpl planning while performing 3D collision checks of the robot's full kinematic configuration against a 3D map. This map should be built and provided by octomap_server. A downprojected 2D map for costmap_2d should be also provided by octomap_server to perform fast checks agains the robot's footprint.

Documentation

ROS API

Subscribed Topics

• Occupied cells for collision check from octomap_server

• Attached object the robot may carry (experimental)

Services Called

• Requests the robot's current kinematic state at the beginning of each plan

Published Topics

See the documentation of sbpl_lattice_planner (the private namespace changed to SBPLLatticePlanner3D)

Parameters

See the documentation of sbpl_lattice_planner (the private namespace changed to SBPLLatticePlanner3D)