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Waypoint Navigation: Simplified Local Planner

asked 2014-11-05 21:09:08 -0500

ROSCMBOT gravatar image

Hello,

I was wondering if anyone has written such a behaviour for a robot navigation or any hint on how to implement it.

1- The robot gets the waypoints from the global planner
2- Starting from the first waypoint, the robot rotates towards the next waypoint
3- The Robot moves on a straight line and stops at the next waypoint
4- The robot rotates towards the next waypoint
5- The Robot moves on a straight line and stops at the next waypoint
6- Goto 4

Assuming that there is enough distance between the waypoints.

Thanks

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Am looking for same as you asked, did you find the answer yet? Can you let me know if you knew something about it please ?

Nazeer gravatar imageNazeer ( 2015-03-03 03:41:27 -0500 )edit

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answered 2015-03-03 16:05:14 -0500

David Lu gravatar image

I have a version of this idea that works, but currently does no collision detection. https://github.com/DLu/simple_local_p...

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answered 2014-11-05 21:25:51 -0500

ahendrix gravatar image

There might be something like that in navigation_experimental, but most of those packages aren't documented very well.

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Asked: 2014-11-05 21:09:08 -0500

Seen: 1,978 times

Last updated: Mar 03 '15