Custom Planners and Robots

The Core Tools framework allows for the creation of custom goal planners and robot types by subclassing a base planner class or robot class.

Custom robots

In order to create a custom robot class, the base robot class, Robot (contained in core/robo_tools/robot.py), must be subclassed, and MissionPlanner must be subclassed (contained in core/robo_tools/planner.py). The update function must be overwritten. It is suggested that the Vagabond robot type, found in vagabond.py, be used as a template for custom robot types.

Custom goal planners

To create a custom goal planner, GoalPlanner (contained in core/robo_tools/planner.py) must be subclasses. The find_goal_pose and update functions must be overwritten. It is suggested the random pose goal planner, simple_planner.py, be used as a template for custom planners.