Online trajectory planning in ROS under kinodynamic constraints with Timed-Elastic-Bands

Abstract

This tutorial chapter provides a comprehensive and extensive step-by-step guide on the ROS setup of a differential-drive as well as a car-like mobile robot with the navigation stack in conjunction with the teb_local_planner package. It covers the theoretical foundations of the TEB local planner, package details, customization and its integration with the navigation stack and the simulation environment. This tutorial is designated for ROS Kinetic running on Ubuntu Xenial (16.04) but the examples and code also work with Indigo, Jade and is maintained in future ROS distributions.