[Documentation] [TitleIndex] [WordIndex

  1. Set up and test Optimization

    In this tutorial you will learn how to run the trajectory optimization and how to change the underlying parameters in order to setup a custom behavior and performance.

  2. Inspect optimization feedback

    In this tutorial you will learn how to inspect feedback of optimized trajectories; an example is presented which visualizes the velocity profile of the currently selected trajectory.

  3. Configure and run Robot Navigation

    In this tutorial you will learn how to set up the teb_local_planner as local planner plugin for the navigation stack.

  4. Obstacle Avoidance and Robot Footprint Model

    In this tutorial you will learn how obstacle avoidance is realized. Necessary parameter settings with a major focus on the robot footprint model and its influences are described.

  5. Following the Global Plan (Via-Points)

    In this tutorial you will learn how to configure the local planner to follow the global plan more strictly. In particular you will learn how to adapt the tradeoff between time-optimality and path-following.

  6. Costmap conversion

    In this tutorial you will learn how to apply costmap conversion plugins to convert occupied costmap2d cells to geometric primitives for optimization (experimental).

  7. Planning for car-like robots

    In this tutorial you will learn how to set up the planner for car-like robots (experimental).

  8. Planning for holonomic robots

    In this tutorial you will learn how to set up the planner for holonomic robots (experimental).

  9. Incorporate customized Obstacles

    In this tutorial you will learn how to take polygon-shaped obstacles published from other nodes into account.

  10. Incorporate dynamic obstacles

    In this tutorial you will learn how to take dynamic obstacles published from other nodes into account.

  11. Track and include dynamic obstacles via costmap_converter

    In this tutorial you will learn how to utilize the costmap converter to easily track dynamic obstacles based on costmap updates.

  12. Frequently Asked Questions

    This page tries to answer and explain frequently asked questions regarding the teb_local_planner.

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2019-08-10 13:11