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ROS Navigation Stack, Global Planner, Waypoints

asked 2014-07-28 16:18:28 -0500

ROSCMBOT gravatar image

The tutorial on Global Planner says:

"The global planner is responsible for generating a high level plan for the navigation stack to follow. Given a goal that is arbitrarily far away from the robot, the global planner will create a series of waypoints for the local planner to achieve. "

How are these waypoints represented? Are they (x,y) coordinates? and How can I retrieve the waypoints when Global Planner is planning a path from the start to the goal point? Are they published on a topic?

Thanks

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answered 2014-07-28 17:58:24 -0500

David Lu gravatar image

The are x,y coordinates, generally without orientation, except the last point. The planner publishes the path as a nav_msgs::Path on the topic (global_planner_namespace)/plan

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Asked: 2014-07-28 16:18:28 -0500

Seen: 1,426 times

Last updated: Jul 28 '14