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In general, adding multiple sources is fine and should be preferred over fusing them manually. After having brief look at your configuration, I recognized that your observation_sources are not part of the obstacle_layer param namespace. This could the reason why they are ignored. See here and here (-> part of the obstacle layer).

The planner supports holonomic movements since kinetic (are you already running kinetic)? Otherwise the source code is backwards compatible by compiling it from source (up to now).

Regarding your second question: If you just need waypoints you can probably subscribe to the local_plan topic. If you also need temporal information, you could describe to the teb_feedback topic (but you need to turn it on by setting parameter publish_feedback to true. But those messages are only published while navigation is active.

PS: the navigation stack is specialized to motions in the 2d plane. So I guess, you are planning for a fixed height.

In general, adding multiple sources is fine and should be preferred over fusing them manually. After having a brief look at your configuration, I recognized that your observation_sources are not part of the obstacle_layer param namespace. This could be the reason why they are ignored. See here and here (-> part of the obstacle layer).

The planner supports holonomic movements since kinetic (are you already running kinetic)? Otherwise the source code is backwards compatible by compiling it from source (up to now).

Regarding your second question: If you just need waypoints you can probably subscribe to the local_plan topic. If you also need temporal information, you could describe to the teb_feedback topic (but you need to turn it on by setting parameter publish_feedback to true. But those messages both messages/topics are only published while navigation is active.

PS: the navigation stack is specialized to motions in the 2d plane. So I guess, you are planning for a fixed height.