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Hi,
is there a global planner that would take into account multiple robots' locations and multiple goals? Or is there an interface to move_base that would enable writing one?
The nav_core::BaseGlobalPlanner is not flexible enough for something like that as it accepts only the initial and final position as the arguments. Any ideas how to achieve this?
AFAIK, there is none. You would need to write this planner yourself. As this planner, however, will need to run once providing paths for all robots at the same time, this will probably need to be some kind of multi-master system.
move_base is intended for single robots. So I'd follow those steps:
move_base that takes as input directly the plan for this specific robot from the above global planner. You can use whatever mechanism you want, Topic, Service, Action, ...Hey I wonder if you find out how to navigate multiple robots in one simulation. Because I myself also have the same question, this link should help you: [https://answers.ros.org/question/4143...] mgruhler is right, move_base is actually only for one robot. But defining different namespace can realize the multiple robots simulation :)
Greetings
Asked: 2016-06-22 10:42:06 -0500
Seen: 670 times
Last updated: Feb 22 '20
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