Problem in setting new goal for the global planner.

asked 2015-02-12 09:39:11 -0500

Mercy gravatar image

updated 2015-02-12 13:08:13 -0500

Hi, I want to set a new goal in the planner through the modified [navfn_ros.cpp] ( http://docs.ros.org/api/navfn/html/na... ). My intention is to bypass the goal that is being set using rviz.

In the method  **NavfnROS::getPlanFromPotential(const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan)** **[Line Number 382**] (http://docs.ros.org/api/navfn/html/navfn__ros_8cpp_source.html#l00382)

I have added following line at line numbers (412,413 and 416) ;

map_goal[0] = -3.00001; // given by me

map_goal[1] = -.88001; // given by me

planner_->setGoal(map_goal);

But the new goal is not treated as a goal, robot follows the goal set by rviz. (see the figure below) image description

I am using ROS fuerte. Thank you in advance.

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