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Can I pass a nav_msgs/Path message directly to local planner?

asked 2012-02-27 04:06:33 -0500

Procópio gravatar image

updated 2014-01-28 17:11:30 -0500

ngrennan gravatar image

Hi. Within the move_base, the nav_msgs/Path is passed internally from the global planner to the local planner.

If I generate a path message with an external node, how can I pass it to the local planner within move_base? Should I always write a plugin that adheres to global planner interface? Is there a way to pass it as a "standard" ros message? Thanks!

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answered 2012-02-27 04:12:58 -0500

DimitriProsser gravatar image

If you want to use all of the functionality of move_base, you're going to have to write your own global planner plugin. base_local_planner does not subscribe to a path, so you cannot publish it over a topic. In fact, base_local_planner has no external access at all. It can only be accessed by using move_base and interface methods, and move_base provides no methods for externally setting the plan.

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Asked: 2012-02-27 04:06:33 -0500

Seen: 654 times

Last updated: Feb 27 '12