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Have a look at pose_follower as local planner in move_base. It's not really documented and needs some parameter tuning, but it will follow your originally planned path very closely. I believe both dwa and base_local_planner will try to optimize your path and avoid backwards motion.

Have a look at pose_follower as local planner in move_base. It's not really documented and needs some parameter tuning, but it will follow your originally planned path very closely. I believe both dwa DWA and base_local_planner Trajectory Rollout will try to optimize your path and avoid backwards motion.