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Timed Navigation using Simple Nav Goal

asked 2018-07-12 03:45:35 -0600

MandeepSingh gravatar image

updated 2018-07-12 06:09:15 -0600

Hi all,

I am using DWAPlanner for local planner, when giving a simple nav goal it takes a some time to it to generate plan. I dont want this lag when I want tot trigger my robot motion. Can I somehow pre-compute the path and then just trigger the bot to move afterwards.

I am using move_base_simple/goal topic for giving goal.

Any help would be appreciated.

Thanks Mandeep Singh

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How are you giving the goal? using RViz "2D Nav Goal" or somewhere in the code

pavel92 gravatar imagepavel92 ( 2018-07-12 04:10:30 -0600 )edit

I am giving goal by publishing on topic move_base_simple/goal.

MandeepSingh gravatar imageMandeepSingh ( 2018-07-12 06:08:29 -0600 )edit

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answered 2018-07-12 08:04:26 -0600

Choco93 gravatar image

updated 2018-07-12 08:04:47 -0600

If you increase the value of resolution to have bigger cell size, then plan generation should be fast,but that depends on your application, you might need smaller resolution for better accuracy.

If you don't want to mess with move_base and planners then you can simply remap velocity in move_base and make a simple node that takes command velocities, and publish them to another topic (remapped topic in move_base) when you call a service.

Of course this is just one method, that I think is easy, there can be more.

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Yeah I was thinking something like that only. Thanks !

MandeepSingh gravatar imageMandeepSingh ( 2018-07-12 22:18:25 -0600 )edit

You are welcome :)

Choco93 gravatar imageChoco93 ( 2018-07-13 01:15:57 -0600 )edit

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Asked: 2018-07-12 03:45:35 -0600

Seen: 49 times

Last updated: Jul 12 '18