# dwa_planner

**Repository Path**: SUEP_ROBOT/dwa_planner

## Basic Information

- **Project Name**: dwa_planner
- **Description**: ROS implementation of DWA(Dynamic Window Approach) Planner
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 4
- **Forks**: 2
- **Created**: 2021-12-13
- **Last Updated**: 2025-04-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# dwa_planner

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![demo_dwa](doc/demo_dwa.gif)

## Enviornment
- Ubuntu 18.04 or 20.04
- ROS Melodic, or Noetic

## Install and Build

```
cd catkin_workspace/src
git clone https://github.com/amslabtech/dwa_planner.git
cd ..
catkin_make
```

## Node I/O

![dwa_planner I/O diagram](doc/images/dwa_planner_io.png)

#### Parameters
- HZ
  - main loop rate (default: 20[Hz])
- TARGET_VELOCITY
  - max velocity of robot's target velocity (default: 0.8[m/s])
- ROBOT_FRAME
  - robot's coordinate frame (default: base_link)
  
#### Runtime requirement
- TF (from LocalMap_FRAME to ROBOT_FRAME) is required

## How to Use
- for local path planning
```
roslaunch dwa_planner local_planner.launch
```

## References
- D. Fox,  W. Burgard, and S.Thrun, "The dynamic window approach to collision avoidance", IEEE Robotics Automation Magazine, 1997.

(https://ieeexplore.ieee.org/abstract/document/580977)