Ask Your Question
0

How to use global planner package in hydro-devel navigation?

asked 2014-05-28 15:26:56 -0600

breeze gravatar image

updated 2014-05-29 21:09:22 -0600

Procópio gravatar image

Hello, I am a newer and have been learning the book of <<ros by="" example="">> .I have tried the gazebo turtlebot_simulation package and also realised navigation using iRobot and hokuyo in Fuerte and Groovy distribution . I found global planner package using A* algorithm contained in the hydro distribution and hope to have a try.

But i don't know how to change the default "navfn/NavfnROS" object for the param base_global_planner in move_base package .In old navfn package ,class NavfnROS is defined with parameters like /allow_unknown contained in initialization function.I learn that the global planner package can subscribe for the navfn package. however, how to use your param so as to get the plan like befor ?

Your suggestion would be appreciated ,thank you@David Lu.

edit retag flag offensive close merge delete

Comments

@David Lu Look forwards to your attention and furthermore advice.

breeze gravatar imagebreeze ( 2014-05-29 14:47:38 -0600 )edit

2 Answers

Sort by » oldest newest most voted
2

answered 2014-05-30 16:16:08 -0600

Ken_in_JAPAN gravatar image

Is this all you want to know? For example,

move_base.launch.xml

<launch>
  <include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
  <include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>

  <arg name="odom_topic" default="odom" />
  <arg name="map_topic" default="/map" />
  <arg name="scan_topic" default="/base_scan" />

 <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>
</launch>
edit flag offensive delete link more
1

answered 2014-06-13 12:09:29 -0600

David Lu gravatar image

@Ken_in_JAPAN is correct in that changing which algorithm is used is as easy as changing the base_global_planner variable. To use global_planner, just change the value to global_planner/GlobalPlanner

Allow_unknown is still a parameter as documented here: http://wiki.ros.org/global_planner

edit flag offensive delete link more

Comments

@David Lu, Thanks for your comment on changing the value to global_planner/GlobalPlanner!

Ken_in_JAPAN gravatar imageKen_in_JAPAN ( 2014-06-14 14:38:24 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2014-05-28 15:26:56 -0600

Seen: 1,386 times

Last updated: Jun 13 '14