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Using the Move_base package with only a local planner

asked 2017-06-20 17:48:03 -0500

tgilmour gravatar image

Hi All,

I'm currently designing a mobile robot that is required to follow an object within 2 meters. Currently, the mobile robot is able to identify the object, its distance from the object, and its orientation with respect to the object - this is enough information for me to set a navigation goal relative to the mobile robots location. The robot will be following the object into unknown environments, we can assume these environments will not be mapped. For this application I believe it should be satisfactory to use a local planner to reach the short distance goal while avoiding any obstacles along the way. I would like to take advantage of the dwa_local_planner package within the move_base package but I am unsure if move_base can be used without a global planner and without a map.

I would appreciate any advice, Thanks for your help!

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answered 2017-06-21 02:10:23 -0500

Procópio gravatar image

updated 2017-06-21 02:10:49 -0500

Although you can use move_base to follow a moving target, that is not the best approach because, as the goal changes, the move_base will abort the current motion, replan and execute.

check this related question, there are several interesting answers to this problem:

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Thanks for linking your previous question, there is some good information on that thread. I was never intending on using a global planner as you suggested in your question, only the local planner - which apparently is used in the "controlling" state.

tgilmour gravatar image tgilmour  ( 2017-06-21 14:23:08 -0500 )edit

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Asked: 2017-06-20 17:48:03 -0500

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Last updated: Jun 21 '17