navigation move_base action package with constantly changing goal.
Hello,
I'm newbie to this field and I'd like to use the move_base package for the navigation of robot to track people.
However, as the move_base package is using action, not a topic, (I think) it is unable to get constantly changing navigation goals.
In this case, how can I utilize this package?
Thanks in advance ! :)
I do not understand what question you are asking.
move_base
is designed to move the robot to a destination goal on a map. It's not going to work well for the task of "continuous" tracking/following of an object.Thank you for the reply :) Since I need to use the navigation package in ros for tracking the continuously moving object, would you please recommend me if there is a better way for this task??
With move_base, if you have a new goal, you can send it before the robot reaches the current goal. However, the robot will pause while it calculates a path to the new goal, so the robot is probably not going to move smoothly.
What sensor(s) are you using to find the target? Do you have distance and angle to the target from the robot's current pose? Do you need collision avoidance?
Thank you for the explanation! I use a tracking vision AI to find the target given input video from camera. After the target is detected, it can measure the distance and angle to the target from the robot's current pose by LiDAR sensor. And yes, it need collision avoidance.