Is there a way to make the global planner use the right initial orientation?

asked 2018-09-18 07:08:19 -0500

Hug gravatar image

updated 2018-09-18 09:22:34 -0500

Hi everyone,

I noticed that the path provided by the global planner (from the global_planner package) when using the service /global_planner/make_plan doesn't care about the orientation in the start pose. Is there a way to compute a path in which the first pose has the right orientation?

PS: The start position corresponds to the position in the first pose in the path. Only the orientation differs. The goal pose is the same as the last pose in the path.

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