Spline to path to movement?

asked 2014-07-14 09:53:50 -0500

MaxR gravatar image


I have a wheeled robot which can move in all directions (four wheels with two motors each, one for the angle of the wheel, and one for driving the wheel.).

Because of some safety concerns I'd like to specify a static maneuver for driving back to the charging station. The idea is to pass a given path to the move_base node. From what I understand so far I have to pass the move_base node a goal in the form of a message called geometry_message/PoseStamped.

The problem is: I don't know how to create those messages correctly and in a swift and easy way. Is there a GUI Tool where I can draw a path that is then converted into poses?

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