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from nav_msgs::path to base_local_planner::Trajectory ?

asked 2014-08-04 01:41:28 -0600

updated 2014-08-04 07:29:40 -0600

Hello everyone,

I am writing a plugin of BaseLocalPlanner and I want to set a path to my move_base.

My problem is that move_base::make_plan give me a nav_msgs::path and move_base use base_local_planner::Trajectory to execute a path.

so from my move_base::Path the x, y, and theta velocities of the trajectory are missing

Is there a way to use my nav_msgs::path to generate a base_local_planner::Trajectory?

thanks

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answered 2014-08-04 07:23:03 -0600

David Lu gravatar image

updated 2014-08-04 07:59:06 -0600

The process of converting Paths to Trajectories is what the BaseLocalPlanners do.

Edit: Sorry, I misunderstood the question at first. Converting Paths to Twist Commands is what BaseLocalPlanners do.

In general you cannot convert arbitrary paths to Trajectories since a trajectory is the result of applying a certain velocity command for a given period of time. Paths can be arbitrarily complicated, and therefore cannot be translated to Trajectories. What is it you are trying to do with the Paths?

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I don't find any function for this . I find only function to convert a goal into trajectory. Do you have the name of the function used?

GuillaumeB gravatar imageGuillaumeB ( 2014-08-04 07:29:11 -0600 )edit

My move_base subscribe to a path and I want that my robot follow up this path.

GuillaumeB gravatar imageGuillaumeB ( 2014-08-04 08:07:40 -0600 )edit

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Asked: 2014-08-04 01:41:28 -0600

Seen: 205 times

Last updated: Aug 04 '14