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Path Planning/Rviz/nav stack

asked 2018-01-09 21:58:32 -0500

therobot1
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Hello,

I am running turtlebot on indigo (on ubuntu trusty) and wish to visually represent the robot's navigation path using a ring of LEDs. I have not been able to find the line(s) of code that represent the robot's planned path. Ideally I would like to reference this code to light the LEDs in a way that corresponds to the robots preferred heading. Does anyone know where in the nav stack or rviz this code is hiding?

Thank you for any help!

Peter

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answered 2018-01-10 05:12:51 -0500

PeteBlackerThe3rd

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The navstack publishes a path topic I believe, that will show the route it's currently following. If you subscribe to this topic then find the closest point on the path to the robots current location then you'll have a vector pointing in the direction of the next segments of the path.

I don't know if there's a simpler way, but this will definitely work.

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Asked: 2018-01-09 21:58:32 -0500

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Last updated: Jan 10 '18

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