How to get robot to follow line in RVIZ/ other GUI?
I have a robot setup that will move to a specified point of a predetermined map in RVIZ, but will eventually need to load these waypoints as an action/service so it can reach multiple waypoints. I would like to be able to draw straight lines that the robot should try to follow and stick to as long as there are no obstacles. Is there a good way to implement this strategy of having a path the robot should follow but will avoid an obstacle and return to the specified path once cleared?
i.e. a lawn mower following a straight line, avoiding a tree and returning to that straight line
Asked by chased11 on 2022-12-15 21:22:24 UTC
Answers
move_base already supports the follow-path-unless-obstacle if you configure it correctly. Start by understanding the difference between a "global planner" and a "local planner" (hint: what each planner type outputs, and when, is very different.)
Confusingly, one of move_base's global planners is named GlobalPlanner, as if it's the only one.
As far as I know, there is no feature in standard ros to feed a list of waypoints to move_base. Everybody just writes custom code to do this.
Asked by Mike Scheutzow on 2022-12-18 10:13:59 UTC
Comments
Sounds good. Thanks!
Asked by chased11 on 2022-12-19 12:33:05 UTC
Comments