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I believe that move_base actually explicitly rejects messages received in the base_link because it is not achievable to reach said goal. Since 2m forward will always be 2m forward. I didn't find the logic in a quick search but think you could find it if you looked.

To make it work relatively quickly you could simply query for the current robot pose in odom, and then add the offset you want to drive to in your script.

I believe that move_base actually explicitly rejects messages received in the base_link because it is not achievable to reach said goal. Since 2m forward will always be 2m forward. I didn't find the logic in a quick search but think you could find it if you looked.

To make it work relatively quickly you could simply query for the current robot pose in odom, and then add the offset you want to drive to in your script. This will allow move_base to persist the goal in the odom frame and be able to reach it.