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The path generated by the standard move_base mechanics is stored in a topic (I think it's called just path) composed of an array of vectors. My point is, those vectors are the same kind of vectors that describe the actual pose of the robot, so maybe you can build a node that retrieves the pose of the robot (taken from the odometry or whichever mechanism you're using for the localization) while you move manually your robot in the trajectory that suits your purposes.

That way you'll have an array of vectors describing the path you just made with your robot, which with minor adjustments you can publish into the path topic of move_base.

I don't know how complex could this be, but if it isn't possible the easy way is record a bag file of a path generated from move_base that seems good to you, and replay it anytime you want.

The path generated by the standard move_base mechanics is stored in a topic (I think it's called just path) composed of an array of vectors. My point is, those vectors are the same kind of vectors that describe the actual pose of the robot, so maybe you can build a node that retrieves the pose of the robot (taken from the odometry or whichever mechanism you're using for the localization) while you move manually your robot in the trajectory that suits your purposes.

That way you'll have an array of vectors describing the path you just made with your robot, which with minor adjustments you can publish into the path topic of move_base.

I don't know how complex this could this be, but if it isn't possible the easy way is record a bag file of a path generated from move_base that seems good to you, and replay it anytime you want.