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Best way to send a goal with move_base that is off the global costmap?

asked 2014-03-21 06:04:51 -0500

Raptor gravatar image

updated 2016-10-24 09:10:47 -0500

ngrennan gravatar image

Hi Guys,

Using Hydro's navigation stack and move_base, I am trying to send a goal/waypoint to the robot that is at least 1000 meters away from the robots current position, if not more.

The local planner that I am using is: dwa_local_planner/DWAPlannerROS

The global planner that I am using is: navfn/NavfnROS

For the local and global costmap, I do not have a "static_map", so that is false, and I have turned rolling_window to true.

What is the best way to send a waypoint that is pretty far away from the robots current position without growing the size of the global costmap to be 1000 x 1000 meters or larger?

I do not want to have the robot plan the whole distance at once, as this would take a very long time, but plan as it goes, maybe every 20 meters without stopping, to get to the 1000 meter waypoint.

Is there a way to do this with the navigation stack?

Thank you in advance for your responses.

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answered 2014-05-14 09:04:13 -0500

David Lu gravatar image

There currently is no way to do this in the navigation stack without making the very large costmap. If you can describe how you think it should work, please open a ticket. https://github.com/ros-planning/navig...

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answered 2014-03-21 12:03:28 -0500

AbuIbra gravatar image

updated 2014-03-21 12:08:16 -0500

I suggest you use this: http://wiki.ros.org/yocs_waypoints_navi

It allows you to set waypoints throw where the robot will go before reaching the final goal. Tell me if you have any problem using it.

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Asked: 2014-03-21 06:04:51 -0500

Seen: 1,202 times

Last updated: May 14 '14