Fuse different path planning algorithm

Hello all,

I would like to know is it possible to change the 3DVFH+ algorithm with different. I just wanted to use trajectory control of local planner with other algorithms. Most modifications needed in local_planner with star_planner, waypoint_generator, but I am not sure what else. I can understand it’s not a pretty straight forward task and lots of coding will be involved and I am okay with that.

Kind regards,
Ashutosh Badave