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How to set via-points through code?

asked 2018-01-29 09:51:12 -0500

reben
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The TEB local planner has a tutorial ( http://wiki.ros.org/teb_local_planner... ) on setting via-points in Rviz, but it does not explain how to set them in code. Anyone know how I can do this?

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Probably I forgot to add this to the public API. I can address this enhancement in approx. 2 weeks. Otherwise, feel free to try it by yourself (any pull-request is welcome)

croesmann ( 2018-02-03 05:21:56 -0500 )edit

I added a subscriber that takes points and pushes them to the viapoint container. Now the path is attracted to viapoints, but the vehicle is stopping at the viapoints instead of continuing to the global navigation goal. Is there a way I can prevent the vehicle from slowing to a stop at viapoints?

reben ( 2018-02-10 20:47:05 -0500 )edit

could it be possible, that your weight_viapoint is too high?

croesmann ( 2018-06-08 01:54:24 -0500 )edit

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answered 2018-06-08 10:03:16 -0500

croesmann
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Hi,

the most recent version (starting from kinetic) accepts now via-points as nav_msgs::Path message via a newly added topic ~/via_points.

Refer the related pull request

Cheers,

Christoph

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answered 2018-01-29 15:36:44 -0500

PeteBlackerThe3rd

flag of United Kingdom of Great Britain and Northern Ireland

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Hi there,

Yes, when you use RVIZ to publish a point it publishes a geometry_msgs/PointStamped message on the topic /clicked_point.

If you make a publisher to this topic in your node you can send the same messages that RVIZ does.

Hope this helps.

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This will, however, only allow one set point at a time. Anytime you publish a new point the old one will no longer be a set point.

jayess ( 2018-01-29 15:44:08 -0500 )edit

I can probably make it work with one point, but I'd like to know if there is a way to add more than one via_point at a time.

reben ( 2018-01-29 16:10:48 -0500 )edit

This does not work unless I'm running the teb_local_planner's tutorial script (test_optim_node.cpp). Is there a different way I can add via points?

reben ( 2018-02-02 21:29:57 -0500 )edit

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Asked: 2018-01-29 09:51:12 -0500

Seen: 1,017 times

Last updated: Jun 08 '18

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