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 | 1 | initial version |
Doing it via the global planner looks more easy to me.
Let's say we have a target and a global plan to get there. The local planner is trying to follow that path and generates motions if the global path is ok. Then suddenly, an obstacle appears and the robot's footprint cannot move on the previously created global path. Now, the global planners usually (AFAIK; commonly) create another path to follow. This is called self driving approach.
At this point which you seen an obstacle on the path, you can just cancel the navigation goal. After the costmap is clear (the obstacle moved away). Send the target goal back again and it will generate a good global path like the part which was remaining previously.
| | 2 | No.2 Revision |
Doing it via the global planner (actually the move_base goal) looks more easy to me.
Let's say we have a target and a global plan to get there. The local planner is trying to follow that path and generates motions if the global path is ok. Then suddenly, an obstacle appears and the robot's footprint cannot move on the previously created global path. Now, the global planners usually (AFAIK; commonly) create another path to follow. This is called self driving approach.
At this point which you seen an obstacle on the path, you can just cancel the navigation goal. After the costmap is clear (the obstacle moved away). Send the target goal back again and it will generate a good global path like the part which was remaining previously. previously.
| | 3 | No.3 Revision |
Doing it via the global planner (actually the move_base goal) looks more easy to me.
Let's say we have a target and a global plan to get there. The local planner is trying to follow that path and generates motions if the global path is ok. Then suddenly, an obstacle appears and the robot's footprint cannot move on the previously created global path. Now, the global planners usually (AFAIK; commonly) create another path to follow. This is called self driving approach.
At this point which you seen an obstacle on the path, instead of following a new global plan(you can understand from its topic when a new one arrives), you can just cancel the navigation goal. After the costmap is clear (the obstacle moved away). Send the target goal back again and it will generate a good global path like the part which was remaining previously.
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