fgm_plugin

Implementation of Follow the Gap as a local planner plugin for the ROS navigation stack move_base

Notable Reconfigurable Parameters

go_to_goal toggle go-to-goal behavior score toggle gap selection behavior - size vs score alpha tuning parameter of planner, see follow the gap original paper

Examples

A few launch files are prepared for a demo, fgm_world.launch launches a Gazebo world for the package. nav.launch launches the planner and view_navigation.launch provides the GUI for playing with navigation.

Dynamic World

http://gazebosim.org/tutorials?tut=actor