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.
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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 It is however long outdated on the ROS Wiki page for that package, so i recommend that you look into this repo as those guys have been adding to the pose_follower package and it worked on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
Asked: 2015-10-29 10:00:10 -0500
Seen: 906 times
Last updated: Oct 30 '15
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