## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(cart_local_planner)>>
<<TOC(4)>>

Cart local planner provides a single ros plugin, `cart_local_planner`, that implements the `base_local_planner` interface expected by `move_base`.  It simply tries to follow the given base path exactly.  It also provides an additional interface for controlling the cart.

== Advertised topics ==

`articulate_cart_server`/command_twist (<<MsgLink(geometry_msgs/TwistStamped)>>)
  Commanded twist for the cart reference point

== Subscribed topics ==

`/move_base_node/SBPLCartPlanner/sbcl_robot_cart_plan` (<<MsgLink(cart_pushing_msgs/RobotCartPath)>>)
  The planner is expected to publish the full plan (with both base and cart poses) on this topic.  When the plugin receives a global plan from move_base, it is compared with the recent plans on this topic to find the corresponding one, and the arm positions are looked up from there.


== TF frames needed ==

`base_footprint`
  The base pose
`cart`
  The pose of the cart reference point

== Main ROS parameters ==

`cart_pushing/max_vel_{base,cart}_{x,y,theta}`
  Max velocities for the base and cart
`HolonomicCartPlanner/k_{trans,rot}_{base_cart}`
  Gains for the cart and base velocities
`cart_pushing/{length,width}`
  Cart dimensions
`cart_pushing/footprint_{x,y}_offset`
  The offset of the reference point of the cart from the corner



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