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how to prohibit global planning through unknown area?

asked 2014-07-16 10:37:24 -0600

dreamcase gravatar image

Hi, All,

occasionally, I found my navigational stack (move_base) plans a route through unknown space.

how do I prohibit such behaviour? I noticed there's a parameter

allow_unknown: false

for this purpose, But where should it be set?

Regards Ray

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answered 2014-07-16 19:53:07 -0600

Hi Ray,

You can create a configuration file named base_global_planner_param.yaml on your navigation package (assuming that the package name is my_robot_2dnav and that you are using the default global planner NavfnROS) with the following contents:

NavfnROS:
  allow_unknown: false

And then load it when you launch the move_base node:

<launch>
...
  <node pkg="move_base" type="move_base" name="move_base">
    ...
    <rosparam file="$(find my_robot_2dnav)/base_global_planner_param.yaml" command="load"/>
    ...
  </node>
...
</launch>

Good luck!

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perfect! the global planning works fine now.

dreamcase gravatar imagedreamcase ( 2014-07-17 10:50:07 -0600 )edit

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Asked: 2014-07-16 10:37:24 -0600

Seen: 622 times

Last updated: Jul 16 '14