How to send navigation goal via waypoints in move_base?
I want to send robot using movebase to point B from point A but I want that to be done via way-points C and D. Note : I don't want to call movebase/goal three time that is for A to C, C to D and then D to B. I want the path to be generated by global planner via the way points.
Asked by Prasun2712 on 2019-11-28 02:11:06 UTC
Answers
In addition to Choco93 comment, there is a package that already has this functionality. It will wait for waypoints given as poses and when instructed, will follow them one by one by publishing goals to move_base
Asked by pavel92 on 2019-11-28 07:27:40 UTC
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I made a navfn fork (link) for this, currently a bit messy but fully functional. You use the 2D pose estimate button in rviz to send goals and it will complete these goals when within a hardcoded distance. If you use the /initialpose topic for e.g amcl you might want to remap it to something else. The behavior is to complete the subgoals before planning for the final goal.
Video of it being used (link)
Asked by bob-ROS on 2019-11-28 08:40:21 UTC
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hi bob, if you're still there I installed the package but couldn't get it to work as you described. Can you give me a clue about this issue?
Asked by ndmrly on 2021-06-18 04:27:02 UTC
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To my knowledge move_base doesn't support multiple goals. But you can write a node that publishes to goal, and in there you send waypoints one-by-one. Do a check when current goal is reached and publish a new goal.
Asked by Choco93 on 2019-11-28 03:09:35 UTC