TEB学习

官方资料:http://wiki.ros.org/teb_local_planner/Tutorials

1. set up and test Optimization(重要)
2. Inspect optimization feedback(重要)
3. configure and run robot navigation(重要)
4. obstacle avoiddance and robot footprint model(重要)
5. planning for car-like robots(重要)
6. frequently asked questions(重要)

TEB源码架构分析

http://docs.ros.org/en/noetic/api/teb_local_planner/html/

TEB与ROS的借口

http://docs.ros.org/en/noetic/api/teb_local_planner/html/classteb_local_planer