How to make the robot follows exactly the global plan?
I need to make my robot to follow the path planned by the global planner and completely ignore the local planner.
I need to make my robot to follow the path planned by the global planner and completely ignore the local planner.
You can increase pdist_scale
parameter value. It is distance-to-path scoring weight. Its default value is 0.6. You may try values like 0.8, or 0.9 . For the wiki: http://wiki.ros.org/base_local_planner
You can look into using the pose_follower
package which does exactly what your asking for. It is however long outdated on the ROS Wiki page for that package, so i recommend that you look into this repo as those guys have been adding to the pose_follower package and it worked on indigo for me.
You will need to change your navigation parameters to load pose_follower as a local planner as opposed to base_local_planner
Please start posting anonymously - your entry will be published after you log in or create a new account.
Asked: 2015-10-29 10:00:10 -0600
Seen: 838 times
Last updated: Oct 30 '15
amcl not reacting to /initialpose topic [closed]
How to choose platform suitable for navigation stack
/base_scan observation buffer has not been updated [closed]
DWAPlannerROS vs TrajectoryPlannerROS
Why is the navigation stack not planning a path?
Local navigation with additional rescrictions
How can navigation be aborted even if goal is not reached?