Mbf goal without orientation

Hello world,

I want my robot (ROS noetic) to reach a certain location on the map with Move base flex (0.4.0) without caring about its orientation when it gets there.

I know about this question, but the accepted answer wont work because the robot wont always drive in a straight line.

I tried setting tolerance_from_action to true and angle_tolerance to 2 * pi (360°) in ExePathGoal, but the robot still tries to reach the supplied orientation.

Thank you for your attention :)

Asked by Armin Wolf on 2022-09-22 04:54:21 UTC

Comments

Answers

Assuming you are calling first get_path to plan a path to your goal and then pass it to exe_path, you can simply overwrite the orientation of the last 2 poses with the value of the 3rd last. This way your robot should finish the navigation with the orientation he has during the approach, w/o furter turning.

I say the last 2 poses because global planner changes the orientation of the pre-last pose to point to the goal, what given the cell discretization can be essentially any angle between -pi / 2 and +pi / 2

Still, keeping angle_tolerance to pi is a good idea (angles range is -pi .. +pi, so no need to set to 2 x pi)

Asked by jorge on 2022-11-04 03:20:20 UTC