{"id":13445544,"url":"https://github.com/rst-tu-dortmund/teb_local_planner","last_synced_at":"2025-05-12T09:55:07.394Z","repository":{"id":32289839,"uuid":"35864690","full_name":"rst-tu-dortmund/teb_local_planner","owner":"rst-tu-dortmund","description":"An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)","archived":false,"fork":false,"pushed_at":"2024-04-16T20:31:41.000Z","size":1765,"stargazers_count":997,"open_issues_count":151,"forks_count":547,"subscribers_count":44,"default_branch":"noetic-devel","last_synced_at":"2024-08-01T05:15:25.978Z","etag":null,"topics":["mobile-robots","navigation","optimal-control","path-planning","ros","trajectory-optimization"],"latest_commit_sha":null,"homepage":"http://wiki.ros.org/teb_local_planner","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":"Unmaintained","scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/rst-tu-dortmund.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.rst","contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2015-05-19T06:56:09.000Z","updated_at":"2024-07-31T07:09:00.000Z","dependencies_parsed_at":"2023-02-12T21:00:52.974Z","dependency_job_id":"58d1d5ac-ef51-4823-a529-1b9f669bc077","html_url":"https://github.com/rst-tu-dortmund/teb_local_planner","commit_stats":null,"previous_names":[],"tags_count":53,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rst-tu-dortmund%2Fteb_local_planner","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rst-tu-dortmund%2Fteb_local_planner/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rst-tu-dortmund%2Fteb_local_planner/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rst-tu-dortmund%2Fteb_local_planner/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/rst-tu-dortmund","download_url":"https://codeload.github.com/rst-tu-dortmund/teb_local_planner/tar.gz/refs/heads/noetic-devel","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":253711938,"owners_count":21951666,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["mobile-robots","navigation","optimal-control","path-planning","ros","trajectory-optimization"],"created_at":"2024-07-31T05:00:35.798Z","updated_at":"2025-05-12T09:55:07.337Z","avatar_url":"https://github.com/rst-tu-dortmund.png","language":"C++","funding_links":["https://www.buymeacoffee.com/croesmann"],"categories":["6. Planning","Planning and Control","Path Planning \u0026 Navigation","Motion Planning"],"sub_categories":["3.4 High Performance Inference","Vector Map"],"readme":"teb_local_planner ROS Package\n=============================\n\nThe teb_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. \nThe underlying method called Timed Elastic Band locally optimizes the robot's trajectory with respect to trajectory execution time, \nseparation from obstacles and compliance with kinodynamic constraints at runtime.\n\nRefer to http://wiki.ros.org/teb_local_planner for more information and tutorials.\n\nBuild status of the *melodic-devel* branch:\n- ROS Buildfarm (Melodic): [![Melodic Status](http://build.ros.org/buildStatus/icon?job=Mdev__teb_local_planner__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__teb_local_planner__ubuntu_bionic_amd64/)\n\n\n## Citing the Software\n\n*Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the planner for your own research:*\n\n- C. Rösmann, F. Hoffmann and T. Bertram: Integrated online trajectory planning and optimization in distinctive topologies, Robotics and Autonomous Systems, Vol. 88, 2017, pp. 142–153.\n- C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Trajectory modification considering dynamic constraints of autonomous robots. Proc. 7th German Conference on Robotics, Germany, Munich, May 2012, pp 74–79.\n- C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Efficient trajectory optimization using a sparse model. Proc. IEEE European Conference on Mobile Robots, Spain, Barcelona, Sept. 2013, pp. 138–143.\n- C. Rösmann, F. Hoffmann and T. Bertram: Planning of Multiple Robot Trajectories in Distinctive Topologies, Proc. IEEE European Conference on Mobile Robots, UK, Lincoln, Sept. 2015.\n- C. Rösmann, F. Hoffmann and T. Bertram: Kinodynamic Trajectory Optimization and Control for Car-Like Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, Sept. 2017.\n\n\u003ca href=\"https://www.buymeacoffee.com/croesmann\" target=\"_blank\"\u003e\u003cimg src=\"https://cdn.buymeacoffee.com/buttons/lato-black.png\" alt=\"Buy Me A Coffee\" height=\"31px\" width=\"132px\" \u003e\u003c/a\u003e\n\n## Videos\n\nThe left of the following videos presents features of the package and shows examples from simulation and real robot situations.\nSome spoken explanations are included in the audio track of the video. \nThe right one demonstrates features introduced in version 0.2 (supporting car-like robots and costmap conversion). Please watch the left one first.\n\n\u003ca href=\"http://www.youtube.com/watch?feature=player_embedded\u0026v=e1Bw6JOgHME\" target=\"_blank\"\u003e\u003cimg src=\"http://img.youtube.com/vi/e1Bw6JOgHME/0.jpg\" \nalt=\"teb_local_planner - An Optimal Trajectory Planner for Mobile Robots\" width=\"240\" height=\"180\" border=\"10\" /\u003e\u003c/a\u003e\n\u003ca href=\"http://www.youtube.com/watch?feature=player_embedded\u0026v=o5wnRCzdUMo\" target=\"_blank\"\u003e\u003cimg src=\"http://img.youtube.com/vi/o5wnRCzdUMo/0.jpg\" \nalt=\"teb_local_planner - Car-like Robots and Costmap Conversion\" width=\"240\" height=\"180\" border=\"10\" /\u003e\u003c/a\u003e\n\n## License\n\nThe *teb_local_planner* package is licensed under the BSD license.\nIt depends on other ROS packages, which are listed in the package.xml. They are also BSD licensed.\n\nSome third-party dependencies are included that are licensed under different terms:\n - *Eigen*, MPL2 license, http://eigen.tuxfamily.org\n - *libg2o* / *g2o* itself is licensed under BSD, but the enabled *csparse_extension* is licensed under LGPL3+, \n   https://github.com/RainerKuemmerle/g2o. [*CSparse*](http://www.cise.ufl.edu/research/sparse/CSparse/) is included as part of the *SuiteSparse* collection, http://www.suitesparse.com. \n - *Boost*, Boost Software License, http://www.boost.org\n\nAll packages included are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the licenses for more details.\n\n## Requirements\n\nInstall dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*:\n\n    rosdep install teb_local_planner\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frst-tu-dortmund%2Fteb_local_planner","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frst-tu-dortmund%2Fteb_local_planner","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frst-tu-dortmund%2Fteb_local_planner/lists"}