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Mon-Fri 9:00AM - 6:00PM
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TEB Local Planner for ROS Navigation System

Learn how to set up the TEB Local Planner for your Navigation system, including setup for car-like robots.

About the Course

In this small course, you are going to learn how to set up the TEB Local Planner for your ROS Navigation system, including setup for car-like robots, and customization and optimization of the parameters for better performance.

What You Will Learn

- How to set up the TEB Local Planner for the Navigation Stack
- How to configure and optimize the TEB Local Planner
- How to set up the TEB Local Planner for Cars

6 hours

Robots used in this course:

- Autonomous Vehicle
- Husky
- Carbot

Learning Path
Unit 1

Introduction to the Course

A Brief Introduction to the Course, including a demo.

This unit is an introduction to the TEB Local Planner Micro Course. You'll have a quick preview of the contents you are going to cover during the course, and you will also view a practical demo.

(00:10 Hands on training)

Unit 2

Set up the Navigation Stack

Set up the ROS Navigation Stack for using a TEB Local Planner

The first thing you will need to do to be able to use the TEB Local Planner is set up the Navigation Stack. And that's exactly what you are going to learn in this unit! For this, you will learn how to:

  • Set up the gmapping node
  • Set up the amcl node
  • Set up the move_base node
  • Set TEB as the Local Planner to be used

(01:00 Hands on training)

Unit 3

Customize Parameters and Optimization

Customize the Planner parameters to optimize performance

In this unit, you will learn:

  • How to launch the Optimization node
  • How to customize the planner parameters
  • How to visualize the trajectories in RVIZ

(02:00 Hands on training)

Unit 4

Set up for Car-like Robots

Set up the Planner for supporting car-like robots

In this unit, you will learn:

  • How does the TEB local planner perform Path Planning for car-like robots?
  • What is the Footprint model?
  • How to set up your environment for navigating with car-like robots.

(01:00 Hands on training)

Unit 5

Mini Project

A small project to test what you've learned:

  • Part 1: Scene - Project will be based on a new environment
  • Part 2: Carbot Model - You will use the Turtlebot3 Burger model.

(01:00 Hands on training)

Unit 6

Final Recommendations

Final Recommendations

(01:00 Hands on training)