move_base_flex Unable to go to the new navigation point？

ROS1

asked 2021-11-22 20:14:03 -0500

mingyue
21 ●3 ●6 ●7

Hello, after I use the move_base_flex function package, I use the 2D_nav button in rviz to send the target point to the robot. When the robot reaches the target point for the first time, it sends a new target point here, and the robot cannot plan to reach the new target point. The path of the target point, the robot will not start to the new target. At the same time, every time the robot reaches the first target point, it will be 0.36m away from the actual target point. I don’t understand why this is. I hope to get help from friends. The following is the node graph after my operation and the launch of move_base_flex document. image description

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Hi @mingyue, I see you were directed to the forum from https://github.com/magazino/move_base.... To help you more info is needed,

From your comment:

Now my function package causes the robot to not run continuously. After the target point is reached, the robot will not run if the command is issued again.When using move_base, it is fully capable of multi-point navigation, but after replacing move_base_flex, it can only be a single point, and it is not clear how to publish the path planned by oneself to the robot.

Could you provide a copy of the programs to see what is the difference between the to?