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Is there a way to configure move_base to follow paths forward and backward?
I have been able to create paths composed of forward and backward segments with SBPL, but move_base tries always to complete the path rotating and moving forward.
Thanks,
Robert
Have a look at pose_follower as local planner in move_base. It's not really documented and needs some parameter tuning, but it will follow your originally planned path very closely. I believe both DWA and Trajectory Rollout will try to optimize your path and avoid backwards motion.
Another option is the TEB local planner. I've had success using that to find trajectories that involve driving backwards for a bit using the configuration from their tutorial. If anything, using that configuration, it is a little too eager to drive backwards.
I think you should check the parameters of your local planner settings. The local planner is responsible for driving the robot to the waypoints given from the global planner (SBPL in your case). Are you using DWA or base_local_planner?
Asked: 2012-01-10 19:33:35 -0500
Seen: 3,787 times
Last updated: Jun 26 '20
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