Online Trajectory Optimization and Navigation in Dynamic Environments in ROS

Franz Albers, Christoph Roesmann, Frank Hoffmann, Torsten Bertram

Abstract: This tutorial chapter provides a comprehensive step-by-step guide on the setup of the navigation stack and the teb_local_planner package for mobile robot navigation in dynamic environments. The teb_local_planner explicitly considers dynamic obstacles and their predicted motions to plan an optimal collision-free trajectory. The chapter introduces a novel plugin to the costmap_converter ROS package which supports the detection and motion estimation of moving objects from the local costmap. This tutorial covers the theoretical foundations of the obstacle detection and trajectory optimization in dynamic scenarios. The presentation is designated for ROS Kinetic and Lunar and both packages will be maintained in future ROS distributions.