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time for navigation in /move_base trajectory planner

asked 2012-03-05 23:55:41 -0500

karthik gravatar image

Hi, I have a problem where i will have a set of goals for the robot and i have to choose the one which takes less time. Though move_base does the same, this time details is important for my probabilistic logic. So is there a way to compute the estimated time for the navigation to a particular goal. Is there a package that does this or can i tweak somewhere to get this information. I make use of the /move_base package inside the navigation stack as of now. Any pointers and suggestions here is appreciated.

Thanks, Karthik

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answered 2012-03-06 00:19:50 -0500

dornhege gravatar image

Indirectly there is. move_base provides a service:

~make_plan (nav_msgs/GetPlan)

This doesn't give you time, but a path length that given an assumed speed gives you a time estimate.

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Thanks alot :)

karthik gravatar image karthik  ( 2012-03-06 00:27:41 -0500 )edit

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Asked: 2012-03-05 23:55:41 -0500

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Last updated: Mar 06 '12