how to use TrajectoryPlannerROS::checkTrajectory [closed]

asked 2014-08-11 11:14:04 -0600

GuillaumeB gravatar image

Hello, I sent a path to my move_base and i want to know if i can apply it.

So I was thinking to use base_local_planner::TrajectoryPlannerROS .

  • Inittialise it with TrajectoryPlannerROS (std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)

  • load my path with setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)

  • and check my trajectory with checkTrajectory (double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)

But I don't get what are vx_samp,vy_samp and vtheta_samp. The documentation said that there are used in order to seed the Trajectory but I don't understand what does it mean.

Someone can describe me what is the purpose of these parameters?

thanks

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2018-01-30 22:54:10.184469

Comments

I have use the vx_samp,vy_samp and vtheta_samp that I was using for my DWA_planner. I can initialize and load a map but when i try to checktrajectory the function always return false (even for plans that I know they are correct). Someone has an idea?

GuillaumeB gravatar image GuillaumeB  ( 2014-08-12 07:26:59 -0600 )edit
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