This package defines two additional plugin-types: PrePlanning and PostPlanning plugins. These plugins will be loaded and executed by the GppPlugin.
The pre-planning plugins will be executed before the global-planners are run. They should modify the input to the planning plugins. The pre-planning plugins are allowed to
- alter the start and goal poses,
This allows the you to implement for example a common tolerance function for all planners, or to update the global_costmap only when required.
The post-planning plugins are run after the global planners. The should modify the output of the planning plugins. The post-planning plugins are allowed to
- alter the path,
- alter the cost.
Here, the user may implement common post-processing steps like
- path-pruning or densifying,
- trajectory smoothing,
- trajectory oscillation checks,
- feasibility checks