Actually, DWA can be used regardless of the dynamic or static environment.
All you have to do is to update the local map periodically according to the observations by LiDAR and so on.
(If USE_SCAN_AS_INPUT=true, you don't even need to do that.)

The gif animation is achieved by randomly moving virtual obstacles of appropriate size.
ROS comes with a visualization tool called rviz which makes it easy to visualize like the gif.

Originally posted by @YasunoriHirakawa in #12 (comment)

I found that I can't change the topic name，I have modified the following code，
first，in dwa_planner.cpp
local_map_sub = nh.subscribe("/map", 1, &DWAPlanner::local_map_callback, this);
second, in local_planner.launch
<remap from="/local_map" to="/map"/>
Although I have made the above changes, the algorithm still cannot communicate with the map_server, the topic name of map_server is /map instead of /local_map
I don't know why this is, hope you can help

When the robot truns,it will get close to the obstacle.Is there any better solution?

when I run follow readme , but my terminal always told me that I have not update my local map, my goal and so on. How can I solve this problem? thank you !

hi, sorry its another probably very obvious question but a huge portion of the dwa_planner.h #include issues have appeared, and its asking to update the include path but doesn't allow me to go "up" a level. is there a way to fix the include issue. ( sorry i know these a really basic questions but other resources dont fix the issue)

The car rotates all the time,while no candidate path is displayed,after I give a local_goal.Need I fix some param or other operation?

my robot is differential drive, it turns in the corner while navigating it hits things and it passes so close. Except increasing basefootprint, inflation radius is there any solution to handle the problem?

I what the visualization path like yours gif.

The default parameters are not appropriate, making it difficult to tune and check the operation.
For example, the maximum acceleration setting is too small, giving the illusion that no path is generated.

Hi, thanks for the previous help, I was wondering how to get this code to work with an array of Time of Flight sensors, specifically how it would work if the sensor_msg was /range and not /scan for the VL53L0X ROS Driver.
heres the link to the driver ros code as I am using a Raspberry Pi : https://github.com/sebastiengemme/vl53l0x-ros.git

Sorry if this isnt super relevant I'm just struggling to find an answer.

sorry im super new to ros and am hoping to use DWA for a time of flight sensor, so i have the same ubuntu 20.04 and ROS Noetic, but after following your instructions I get an error :
Error: The current folder is not part of a catkin workspace.

Im not sure whats wrong and am struggling to find advice on the matter. the folder is in catkin_ws/src and i have catkin_tools installed as well. i dont have any othe projects within the workspace yet tho. any advice is greatly appreciated.

Hello, author, how to realize analog broadcasting local_goal, how to realize TF (from LocalMap_FRAME to ROBOT_FRAME) transformation?

I have a question, should the scoring of the trajectory be standardized?

Hi,

In motion function while finding the robot position x and y, it is always starting with 0 (State(0,0,0,current linear velocity, current angular velocity)) . So in this case x and y position will be from 0 to a maximum position of 2.0 or 3.0 . Then without knowing the current position how do you find the distance for the far away obstacles?

why - State(0,0,0,current linear velocity, current angular velocity)
why not - State(0,current_x,current_y,current linear velocity, current angular velocity)

std::vector<std::vector> outside_wall_list;

//最终需要加入外围墙壁
fprintf(stderr,"obst num without wall: %d ============/n",input_data->obst_list_.size());
outside_wall_list.clear();
for(int i=0;i<101;i++){//左
std::vector outside_wall_L;
double outside_wall_x,outside_wall_y;
outside_wall_x=-0.25;
outside_wall_y=-0.25+0.5*i;
outside_wall_L.push_back(outside_wall_x);
outside_wall_L.push_back(outside_wall_y);
outside_wall_list.push_back(outside_wall_L);//把左侧墙壁加入障碍
}
input_data->obst_list_.insert(input_data->obst_list_.end(),outside_wall_list.begin(),outside_wall_list.end());
outside_wall_list.clear();

for(int i=0;i<101;i++){//右
  std::vector<double> outside_wall_R;
  double outside_wall_x,outside_wall_y;
  outside_wall_x=50.25;
  outside_wall_y=-0.25+0.5*i;
  outside_wall_R.push_back(outside_wall_x);
  outside_wall_R.push_back(outside_wall_y);
  outside_wall_list.push_back(outside_wall_R);//把左侧墙壁加入障碍
}
input_data->obst_list_.insert(input_data->obst_list_.end(),outside_wall_list.begin(),outside_wall_list.end());
outside_wall_list.clear();

for(int i=0;i<101;i++){//下
  std::vector<double> outside_wall_D;
  double outside_wall_x,outside_wall_y;
  outside_wall_y=-0.25;
  outside_wall_x=-0.25+0.5*i;
  outside_wall_D.push_back(outside_wall_x);
  outside_wall_D.push_back(outside_wall_y);
  outside_wall_list.push_back(outside_wall_D);//把左侧墙壁加入障碍
}
input_data->obst_list_.insert(input_data->obst_list_.end(),outside_wall_list.begin(),outside_wall_list.end());
outside_wall_list.clear();

for(int i=0;i<101;i++){//上
  std::vector<double> outside_wall_U;
  double outside_wall_x,outside_wall_y;
  outside_wall_y=50.25;
  outside_wall_x=-0.25+0.5*i;
  outside_wall_U.push_back(outside_wall_x);
  outside_wall_U.push_back(outside_wall_y);
  outside_wall_list.push_back(outside_wall_U);//把左侧墙壁加入障碍
}
input_data->obst_list_.insert(input_data->obst_list_.end(),outside_wall_list.begin(),outside_wall_list.end());

fprintf(stderr,"obst num without wall: %d ============/n",input_data->obst_list_.size());

How can I realize the dwa like your gif ? Do I need the local_map ?

Hi author, I launched the local_planner.launch. The terminal output warned no update was made in Robot Footprint, Local Goal, Scan, Odom, etc.

I wonder how was your demonstrated gif in README achieved. Is there a default map or something?

Thanks for your time and code! I have been studying the implementation of DWA recently.