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Does the move_base plan a navigation in real time ?

asked 2014-08-24 06:41:39 -0500

Lau gravatar image

updated 2014-08-24 06:41:54 -0500

Hello ! Now I meet a new question . I had a LIDAR on my real car , and the pointclouds of obstacle were showed around the simulate car on the blank map . When I give a goal 2D navigation on the blank map , the simulate car and the real car will go to the goal . Now I hope the car can avoid the obstacles when going to the goal . The move_base will give a navigation to the goal , but it does not plan a new navigation in real time when the car meet new obstacles .

I hope the move_base can plan a navigation in real time . I am confused about it !

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Another question , I input the PointCloud2 msg which is the obstacles pointcloud to the move_base . Am I right , or should I input the original pointcloud to the move_base ?

Lau gravatar image Lau  ( 2014-08-24 08:04:48 -0500 )edit

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answered 2014-08-25 04:44:51 -0500

Procópio gravatar image

If you are talking about the computer science term "real-time" you should check this answer.

If you are talking "real-time" meaning "fast enough", it largely depends on your hardware resources and on the parameters you are using in the planning configuration. If this is the case, you can use a faster computer and relax the planning parameters, check this answer.

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My car can not avoid the obstacles but go forward through the obstacles ,I am confused . should I change some config ?

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Lau gravatar image Lau  ( 2014-08-26 05:17:09 -0500 )edit

the default move_base planner is not designed to avoid dynamic obstacles.

Procópio gravatar image Procópio  ( 2014-08-26 05:36:17 -0500 )edit

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Asked: 2014-08-24 06:41:39 -0500

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Last updated: Aug 25 '14