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about a way to change default global planner

asked 2014-04-11 13:57:18 -0600

Ken_in_JAPAN gravatar image

updated 2014-04-11 19:00:33 -0600

Hello, Everyone might think that this question is same as this article ( http://answers.ros.org/question/39347... ). Actually, as following the answer, I edited my move_base.launch.xml like this.

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
 <param name="base_global_planner" value="carrot_planner/CarrotPlanner" />  
 <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
 <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
 <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
 <rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
 <rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
 <rosparam file="$(find turtlebot_navigation)/param/eband_planner_params.yaml" command="load" />
 <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" />
 <param name="global_costmap/map_topic" value="$(arg map_topic)" />
 <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
</node> 

The result is following. As showing, Global plan set to elastic band. Elastic band is a local planner, not a global planner. My experiment environment is a turtlebot2 as a target, Hydro as ROS dist on Ubuntu 12.04.

 [ INFO] [1397253785.373263757]: Global plan set to elastic band for optimization
 [ INFO] [1397253785.374082648]: TrajectoryController: Goal reached with distance 0.00, 0.11 (od = -0.02); sending zero velocity

Could anybody tell me some information to change a global planner? Thank you in advance!

I show you an additional information. Rviz just seems to display a eband_local_planner as global & local planner. image description

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The reason that another planner isn't displayed on Rviz relate to yaml file?

Ken_in_JAPAN gravatar imageKen_in_JAPAN ( 2014-04-11 19:09:12 -0600 )edit

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answered 2014-04-14 11:50:53 -0600

Ken_in_JAPAN gravatar image

The answer on this site ( http://answers.ros.org/question/39347... ) is correct. It's just adding the following code to move_base.launch.xml

< param name="base_global_planner" value="carrot_planner/CarrotPlanner" />  

A way to check a change of planner is to use this command rostopic echo /move_base/parameter_updates ,but the problem of a topic in Global_Plan and Local_Plan on Rviz remains unsolved.

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when I use the CarrotPlanner, there is no error,;But in rviz move_base, there is no CarrotPlanner,do you encounter this problem?

hubery524 gravatar imagehubery524 ( 2019-12-11 05:12:43 -0600 )edit

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Asked: 2014-04-11 13:57:18 -0600

Seen: 1,253 times

Last updated: Apr 14 '14