Ask Your Question

Is there a way to use the navigation stack without stopping at goals?

asked 2016-09-17 19:30:57 -0500

ras_cal gravatar image

updated 2016-09-20 19:27:55 -0500

This question was asked by someone else in 2013, but never answered. So giving it another shot as I'm sure there are other people besides me with similar question. Using ROS Indigo, we have an indoor robot that is to follow a pre-planned trajectory at a constant speed. There are no obstacles. Can move_base, base_local_planner be used to generate the required velocity commands such that the robot passes through the goal (waypoint) at a predetermined pose and speed and continues towards the next goal at the same linear speed and without stopping until it reaches the last (end) goal? If move_base won't work is there a package that could?

The yocs_waypoints_navi package seems to use move_base and internally creates a new goal before the old one is reached for "waypoint navigation", but there is very little documentation on how to use.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-09-18 02:08:34 -0500

DavidN gravatar image

I think you will need to modify the global planner to take in a vector of goal pose and this global planner should create a path going through all of the intermediate poses and only stop at the last pose. If you want to "the robot passes through each goal at a predetermined pose", then it might become abit tricky. You will need to write some sort of Bezier curves (or something similar) going through all the poses.

edit flag offensive delete link more


Thanks. How would the local_planner know to not stop when it reaches each intermediate goal?

ras_cal gravatar image ras_cal  ( 2016-09-19 14:57:21 -0500 )edit

Local planner only concerns about the "path" generated by global planner. So local planner will just follow the path until the end of the "path" without knowing that it has pass some intermediate goal poses.

DavidN gravatar image DavidN  ( 2016-09-19 21:57:59 -0500 )edit

Were you able to figure this out? I'm looking to do the same thing.

ncharron gravatar image ncharron  ( 2017-08-21 16:26:17 -0500 )edit

we used a path tracking algorithm. In our case Pure Pursuit worked, although we had to develop from scratch.

ras_cal gravatar image ras_cal  ( 2017-08-22 12:12:56 -0500 )edit

Thank you!

ncharron gravatar image ncharron  ( 2017-08-22 12:27:48 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2016-09-17 19:30:57 -0500

Seen: 956 times

Last updated: Sep 20 '16