Hello, I have been trying to develop a robot for agricultural use. So I'm going to use navigation stack of ROS.

My environment is ROS kinetic.

Successfully, I could generate a map for move base and get my robot work. But I have a problem on path planning.

Move base path planner generates the most shortest path from the current position to the goal. But my main purpose is following a straight path rather than how soon the goal is reached.

https://drive.google.com/file/d/19_EniPABsSzLT9vZXgKb_5OxCnY0bqlB/view?usp=sharing

So I wrote a code to generate the cost map in which cost is increased as the distance from the line from start to goal increases.

But even if I published the cost map to /movebase/globalcostmap/costmap, the generated path doesn't change.

I have two questions.

1. Is my method a correct way? If so, what do you think is wrong?

2. If my method is not a correct way, how do I implement this?

I would appreciate if you could give some advice. Thank you.