ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Navigation: Distance between Waypoints in Global Path

asked 2014-10-23 20:20:36 -0600

ROSCMBOT gravatar image


I was wondering how the distance between the waypoints is determined in the global planner, and is it possible to increase this distance (i.e. decrease the number of waypoints) on the global path?


edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2014-10-23 23:30:45 -0600

David Lu gravatar image

Currently, the only way to do this is to decrease the resolution of underlying costmap.

edit flag offensive delete link more


Thanks. So the distance between the waypoints is basically the distance between the adjacent cells of the costmap grid? and How can I decrease the resolution of the costmap?

ROSCMBOT gravatar image ROSCMBOT  ( 2014-10-23 23:37:38 -0600 )edit

For the global planner, it is likely the same as the resolution of your static map. Otherwise there's a parameter that changes it, sneakily called "resolution" :)

David Lu gravatar image David Lu  ( 2014-10-24 11:24:48 -0600 )edit

Thanks David

ROSCMBOT gravatar image ROSCMBOT  ( 2014-10-24 13:41:50 -0600 )edit

Question Tools

1 follower


Asked: 2014-10-23 20:20:36 -0600

Seen: 432 times

Last updated: Oct 23 '14