Planner module is responsible for Dynamic Path Planning (DPP).
This module/node is responsible for taking input from the user via the ROS Framework’s inter-node communication mechanisms. It also collaborates with the OA Node to detect obstacles and avoid them. Its main responsibility is to plan a collision free path from the aerial robot’s initial position to the desired destination. It should also be able to handle the case of the destination changing before the robot has reached its destination. If the robot reaches the destination, it shall hover at the destination point requested by the client. These responsibilities are implemented through a set of published and subscribed topics as well as through “ROS Services” which act like an API for other nodes/modules to interact and invoke behavior in other nodes. It shall interact with the Bridge module to send commands to the robot, and the OA Node for obstacle avoidance.