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Waypoint specific yaw_goal_tolerance for move base

asked 2017-08-10 17:23:40 -0500

Is there any way to specify a yaw_goal_tolerance for each waypoint you send to move_base? Sometimes I care which direction it ends up in and other times I don't care. And using dynamic reconfigure sounds overly complicated and would result in much less readable code and would be harder to debug.

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Are asking about setting the yaw_goal_tolerance parameter for the base_local_planner dynamically?

jayess gravatar image jayess  ( 2017-08-10 21:20:31 -0500 )edit

Yes, that is correct. Id also like to note that I've noticed that when using dynamic reconfigure, if you mess something up it fails silently. Which is terrible for debug. It would also make code less readable so before going through all the work to set that up I'm wondering if there is an easier way

shoemakerlevy9 gravatar image shoemakerlevy9  ( 2017-08-11 10:10:17 -0500 )edit

I currently monitor the distance and angle in a separate node and cancel the goal if I'm close enough.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-09-07 09:47:09 -0500 )edit

Also other planners like teb_local_planner might give you the option.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-09-07 10:42:55 -0500 )edit

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answered 2017-09-07 08:44:19 -0500

Procópio gravatar image

AFAIK there is no such option, unfortunately.

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Asked: 2017-08-10 17:23:40 -0500

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Last updated: Sep 07 '17