Is it possible to custom the local planner of the navigation stack?

Hi all,

I am a researcher working on safe autonomous decision-making, but my expertise is more in theoretical computer science. I would like to use safe reinforcement learning algorithms to achieve safe motion planning. Is that possible that I can replace the local planner of the navigation stack with my trained policy?
Many thanks!


Yes, you could technically replace the default Nav2 local planner with a planner of your own through a custom plugin.

You can see already implemented custom plugins here.

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