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Hi all, we did this package recently for a demo: allows you to set waypoints throw where the robot will go before reaching the final goal. It's a quite simplistic and fast implementation for a demo, but anyway it can be useful for you. It's still not released, so you need to download and compile the code. Tell me if you have any problem using it.
| | 2 | No.2 Revision |
Hi all, we did this package recently for a demo: allows you to set waypoints throw where the robot will go before reaching the final goal. It's a quite simplistic and fast implementation for a demo, but anyway it can be useful for you. It's still not released, so you need to download and compile the code. Tell me if you have any problem using it. it.
Update
You normally get the pose of the robot with a tf listener.
If you send a new goal, the previous one is preempted (cancelled). You can send goals relative to any reference frame. Then move base will convert it to map reference system. All this is quite well explained on this tutorial.
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