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Your desired behavior is not yet available out-of-the-box. However, you can configure the local planner to follow the global plan by activating and configuring via-points.

Then, you could add a separate small node between the twist message from the local planner and the robot, which slows down the robot in case of any potential collision (e.g. by considering the maximum deceleration). The additional issue here is, that you would need to also subscribe to the cost map or you need to process your sensor data manually to get the obstacle positions. In case the local planner still tries to avoid the obstacles, you might reduce the parameter weight_obstacle of the local planner to zero.

Another possibility is to add such a stopping behavior to the local planner, which should be straight forward (before actually sending the velocity commands). I would be happy to accept any pull request ;-)