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Hi there !

In your launch file, you did not specify what planner to use. Personally, I used the eband_local_planer for omni-directional navigation.
You could try it.
First, add the following lines inside the tag <node pkg="move_base"....> .... </node> :

<param name="base_global_planner" value="navfn/NavfnROS"/>
<param name="base_local_planner" value="eband_local_planner/EBandPlannerROS"/>

Then, you just have to create and fill the YAML file for the configuration of the eband_local_planner, let's call it eb_planner.yaml for example.
You have to load this file inside the same tags as previously mentioned (move_base) as follows:

<rosparam file="$(find your_package_name)/config/eb_planner.yaml" command="load" />

(I supposed you put your yaml file inside a folder named "config", of course, you can put it where you want).

You can find all the information about the eband_local_planner here: eband_local_planner

I sincerely hope it will help you,