teb_local_planner - Car-like Robots and Costmap Conversion

This video presents new features of the teb_local_planner ROS package introduced in release 0.2.
Refer to • teb_local_planner - An... for the main video describing the package.
Refer to ROS Wiki for more details on the software: wiki.ros.org/teb_local_planner
The presented approach is based on [1, 2, 3] and some further extensions.
Time-line:
00:00 Title and Introduction
00:06 Supporting Car-like Robots
03:11 Costmap Conversion
Papers describing the approach:
[1] Rösmann, C., W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Trajectory Modification Considering Dynamic Constraints of Autonomous Robots, 7th German Conference on Robotics, Munich, Germany, May 2012
[2] Rösmann, C., W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Efficient Trajectory Optimization using a Sparse Model, IEEE European Conference on Mobile Robots, Barcelona, Spain, Sept. 2013
[3] Rösmann, C., F. Hoffmann and T. Bertram: Planning of Multiple Robot Trajectories in Distinctive Topologies, IEEE European Conference on Mobile Robots, Lincoln, UK, Sept. 2015
The Institute of Control Theory and Systems Engineering (RST) at TU Dortmund is engaged in fundamental research in the fields of robotics and computational intelligence. Furthermore the applied research focus is automotive systems and mechatronics. www.rst.e-technik.tu-dortmund.de

[@Jack-hv1hw]

Hello,Is the gazebo simulation of the Ackerman chassis shown in the video open source? Where can it be used

[@zhongpingshi8155]

Amazing performance o_o
BTW, which global planner r you using for the turtle bot after 3:30? Thanks.

[@RstTuDortmund]

+zungpeng si
Thanks. Here, we are using the navfn/NavfnROS global planner (but the common GlobalPlanner should work as well). The planner_frequency parameter is set to: 1.0 Hz (causing the continuous updates of the global plan).

[@avinashthakur80]

Does it support Skid Steer drives ?

[@MarcusVinicius-lq3fe]

Hi is there a tutorial of how to install TEB for ROS2 and use on NAV2? I am struggling to compile from github -ros2 tag locally.

[@RstTuDortmund]

Hi,
Maybe you can ask your question in more detail on the GitHub repository (github.com/rst-tu-dortmund/teb_local_planner). The community can often help in case of compiling errors.

[@RstTuDortmund]

The Link was incorrect, here now the correct one
github.com/rst-tu-dortmund/teb_local_planner

[@MarcusVinicius-lq3fe]

@@RstTuDortmund Thanks I was already able to compile and use TEB. Now I Just need to implement the reverse gear. TEB already support It?

[@TheRagnar14]

can someone tell me which music track that is please :p

[@TheHamoodz]

Haha the minimum turning radius on that turtlebot is just silly lol