how to use TrajectoryPlannerROS::checkTrajectory

Hello, I sent a path to my move_base and i want to know if i can apply it.

So I was thinking to use baselocalplanner::TrajectoryPlannerROS .

Inittialise it with TrajectoryPlannerROS (std::string name, tf::TransformListener *tf, costmap2d::Costmap2DROS *costmapros)
load my path with setPlan (const std::vector< geometrymsgs::PoseStamped > &origglobal_plan)
and check my trajectory with checkTrajectory (double vxsamp, double vysamp, double vthetasamp, bool updatemap=true)

But I don't get what are vxsamp,vysamp and vtheta_samp. The documentation said that there are used in order to seed the Trajectory but I don't understand what does it mean.

Someone can describe me what is the purpose of these parameters?

thanks

Asked by GuillaumeB on 2014-08-11 11:14:04 UTC

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I have use the vx_samp,vy_samp and vtheta_samp that I was using for my DWA_planner. I can initialize and load a map but when i try to checktrajectory the function always return false (even for plans that I know they are correct). Someone has an idea?

Asked by GuillaumeB on 2014-08-12 07:26:59 UTC

how to use TrajectoryPlannerROS::checkTrajectory

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