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You should find your answer here #q188257.

You can define the global planner in the move_base.launch.xml (this is an exemple from turtlebot navigation) by adding this in the launch file inside the node tag : <param name="base_global_planner" value="carrot_planner/CarrotPlanner"/> or define the base_global_planner param in a yaml file.

And yes I think you should convert them to into the world coordinates because in general the algorithms are based on coordinates given by the costmap.

You should change the default global planner instead of publishing your own goals (to answer your question, there are 3 topics using goals : move_base/goal, move_base/current_goal, move_base_simple/goal )

You should find your answer how to do it here #q188257.

You can define the global planner in the move_base.launch.xml (this is an exemple from turtlebot navigation) by adding this in the launch file inside the node tag : <param name="base_global_planner" value="carrot_planner/CarrotPlanner"/> or define the base_global_planner param in a yaml file.

And yes I think you should convert them to into the world coordinates because in general the algorithms are based on coordinates given by the costmap.