How to create our own global planner

asked 2018-06-10 16:05:19 -0600

Monge gravatar image

Hello all,

I'm just beginner in ROS and not perfect in English.

We are trying to make a maze solving robot with Gazebo-ROS. For now, we could get a costmap of the maze in some way, and when we point the end of the maze by basic 2D goal via rivz, it works perfectly if robot is in the maze.

The problem is; when the robot is out of the maze, global planner draw a path which goes around of the maze. What we need is: creating our own global planner so that we could give a path to robot which goes through the maze in any condition.

If you give me some advices, or recommend some tutorial or stuff to learn how to do. I'll really be appreciated.

All the best.

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Comments

Maybe just draw the maze so that it extends further off the map? If the path around the maze is longer than the path through the maze, the planner will tend to choose to go through the maze.

ahendrix gravatar imageahendrix ( 2018-06-10 21:17:18 -0600 )edit

There is Github Project which achieved a global planner, you can refer this.

TifferPelode gravatar imageTifferPelode ( 2018-06-10 21:51:12 -0600 )edit

Thank you ahendrix but we are going to participate a competition, we don't know what kind of maze it will be, just know the dimensions.

Thank you too TifferPelode I'll try to understand that.

Monge gravatar imageMonge ( 2018-06-11 00:00:36 -0600 )edit

maybe you can publish the goals one by one?

pengjiawei gravatar imagepengjiawei ( 2018-06-12 02:00:32 -0600 )edit

Maybe but I think there could be better option. Such as, Creating an algorithm jsut prefer the routes which have more than 2 or 3 turns

Monge gravatar imageMonge ( 2018-06-12 05:26:21 -0600 )edit