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Navigation: Distance between Waypoints in Global Path

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

ROSCMBOT gravatar image

Hello,

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?

Thanks

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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.

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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 imageROSCMBOT ( 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 imageDavid Lu ( 2014-10-24 11:24:48 -0600 )edit

Thanks David

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

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

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Last updated: Oct 23 '14