set a path to move_base

asked 2014-07-28 09:21:04 -0600

GuillaumeB

312 ●16 ●23 ●28

Hi everyone, In order to do my own 3D navigation I would like to set a path to move_base.

I explain what i am doing:

I generate 3 2d map
Use each of these 3d map for generated a plan ( with make_plan)

But now i want to check if one path is good in each 2d maps.

So i was thinking to check this with the move_base but I find nothing to load a path. (I could maybe change the move_base code to subscribe to a topic and use the received path, but it sound complicated )

Is there a way to load a path in the move_base ? Or someone have an idea how could i do that?

thanks

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answered 2014-07-28 12:30:34 -0600

mateus03
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Hi!

Assuming that you implemented a plugin of BaseGlobalPlanner to plan your paths, you can just publish the plan to topic and then you can see the results in rviz. You just need to do

ros::NodeHandle private_nh("~/" + name);   
plan_pub_ = private_nh.advertise<nav_msgs::Path>("plan", 1);

And then implement a method to fill a nav_msgs::Path msg and publish it.

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thank you i will see how to write a plugin to BaseGlobalPlanner.

GuillaumeB ( 2014-07-29 01:53:58 -0600 )edit

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answered 2014-07-28 13:49:54 -0600

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

updated 2014-07-28 13:52:08 -0600

Mike Phillips did some great work on this during his internship at Willow Garage, and published the software as a ROS package: http://wiki.ros.org/3d_navigation

The wiki page doesn't mention it, but I believe internally he's doing collision checks against several 2D maps as a shortcut to full 3D collision checking. The paper linked from the wiki page goes into much greater detail about this.

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thank you for the link, but i am pretty new in ROS so I don't know how to break the package down. With which file should i start?

GuillaumeB ( 2014-07-29 01:53:08 -0600 )edit

I'm not familiar with the code, so I can't give you any hints there. I would probably start by reading the paper, and then contact the authors directly if you have questions about their implementation.

ahendrix ( 2014-07-29 02:00:39 -0600 )edit

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