How to disable curved paths from navigation stack?

I want my 2 wheel drive robot either to go straight or turn.

For example when I give it a goal, i want it first to turn to that goal, then go straight to that point and not go in curved lines.

Is there a way to do this with the ROS navigation stack?

Asked by AchrafGazzeh on 2022-09-30 16:54:43 UTC

Comments

i want it first to turn to that goal, then go straight to that point ...

Not sure about the navigation stack, but you have already solved the path planning problem. I would compute the turn angle first and then calculate a straight-line trajectory by myself. But, on the other hand, I am afraid of the situation when an obstacle comes across such a simple-minded trajectory.

Asked by ravijoshi on 2022-10-01 00:34:39 UTC

Answers

I recommend trying to set the global planner to carrot_planner.

You should be able to set the parameter ~base_global_planner to carrot_planner::CarrotPlanner in move_base.

If that is not sufficient, you will need to set something else, such as adjusting the local planner parameters.

ref:

Asked by miura on 2022-10-01 04:25:22 UTC