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First off, navigation 1.2.4 is pretty old, its worth trying to update if you can. Second, you should probably be initializing both the costmap and the carrot planner outside of a ROS callback. As it stands right now, they'll be recreated every time the callback is called. Also, I'm not totally clear on what you're trying to do. Using the carrot planner in the way you're using it above won't even have the robot avoid obstacles while it drives. You might as well just publish velocity commands without doing collision checking. Perhaps the full

First off, navigation 1.2.4 is pretty old, its worth trying to update if you can. Second, you should probably be initializing both the costmap and the carrot planner outside of a ROS callback. As it stands right now, they'll be recreated every time the callback is called. Also, I'm not totally clear on what you're trying to do. Using the carrot planner in the way you're using it above won't even have the robot avoid obstacles while it drives. You might as well just publish velocity commands without doing collision checking. Perhaps the full navigation stack is better for your use case.