Ask Your Question

Moving turtlebot with own implementation of Astar

asked 2018-03-16 04:46:26 -0500

az gravatar image

updated 2018-03-16 04:47:02 -0500

Hi, I have managed to use turtlebot3 (gazebo and Rviz) to create a map and use its data to implement an Astar algorithm(in python).The result is the series of (x,y) coordinates to which robot should move. But now i am confused which topic to publish into to tell robot to move to those places in that sequence.I know there is move_base package but it uses its own path planners,i have read that you can create your own plugin but i feel i might be overthinking and it might be some other way.So i have two questions:

1- Which topic or topics to use to publish these locations?

2-My results are in coordinates system,do i have to convert them back into world coordinates? Thanks.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2018-03-16 05:28:21 -0500

Delb gravatar image

updated 2018-03-16 05:33:41 -0500

You should change the default global planner instead of publishing your own goals (to answer your question, there are 3 topics using goals : move_base/goal, move_base/current_goal, move_base_simple/goal )

You should find how to do it here #q188257.

You can define the global planner in the move_base.launch.xml (this is an exemple from turtlebot navigation) by adding this in the launch file inside the node tag : <param name="base_global_planner" value="carrot_planner/CarrotPlanner"/> or define the base_global_planner param in a yaml file.

And yes I think you should convert them to into the world coordinates because in general the algorithms are based on coordinates given by the costmap.

edit flag offensive delete link more

Your Answer

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

Add Answer

Question Tools

1 follower


Asked: 2018-03-16 04:46:26 -0500

Seen: 655 times

Last updated: Mar 16 '18