## repository: https://code.ros.org/svn/ros-pkg
<<PackageHeader(carrot_planner)>>

<<TOC(5)>>

== Overview ==
The `carrot_planner::CarrotPlanner` is a simple global planner that adheres to the `nav_core::BaseGlobalPlanner` interface found in the [[nav_core]] package and can be used as a global planner [[pluginlib | plugin]] for the [[move_base]] node. The planner takes a goal point from an external user, checks if the user-specified goal is in an obstacle, and if it is, it walks back along the vector between the user-specified goal and the robot until a goal point that is not in an obstacle is found. It then passes this goal point on as a plan to a local planner or controller. In this way, the carrot planner allows the robot to get as close to a user-specified goal point as possible.

{{attachment:planner_overview.png}}

== CarrotPlanner ==
The `carrot_planner::CarrotPlanner` object exposes its functionality as a [[navigation/ROS_Wrappers | C++ ROS Wrapper]]. It operates within a ROS namespace (assumed to be ''name'' from here on) specified on initialization. It adheres to the `nav_core::BaseGlobalPlanner` interface found in the [[nav_core]] package.

Example creation of a `carrot_planner::CarrotPlanner` object:

{{{
#!cplusplus
#include <tf/transform_listener.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <carrot_planner/carrot_planner.h>

...
tf::TransformListener tf(ros::Duration(10));
costmap_2d::Costmap2DROS costmap("my_costmap", tf);

carrot_planner::CarrotPlanner cp;
cp.initialize("my_carrot_planner", &costmap);

}}}

=== API Stability ===
 * The ROS API is stable.
 * The C++ API is stable.

=== ROS Parameters ===
{{{
#!clearsilver CS/NodeAPI
param {
  no_header=True
  0.name = ~<name>/step_size
  0.default = Resolution of the associated costmap
  0.type = double 
  0.desc = The size steps to take backward in meters along the vector between the robot and the user-specified goal point when attempting to find a valid goal for the local planner.
  1.name = ~<name>/min_dist_from_robot
  1.default = 0.10
  1.type = double
  1.desc = The minimum distance from the robot in meters at which a goal point will be sent to the local planner.
}
}}}


=== C++ API ===
The C++ `carrot_planner::CarrotPlanner` class adheres to the `nav_core::BaseGlobalPlanner` interface found in the [[nav_core]] package. For detailed documentation, please see [[http://www.ros.org/doc/api/carrot_planner/html/classcarrot__planner_1_1CarrotPlanner.html | CarrotPlanner Documentation]].

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## CategoryPackage
## CategoryPackageROSPKG