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How can I publish a global path exactly once?

asked 2018-11-06 02:19:41 -0600

stevemartin gravatar image

I am using move_base package from navigation stack in ROS. For the parameters, I have selected o use grid_path due to my robot's motion limitations. Everything works as expected but now, whenever I send a goal (2d nav goal on rviz), move_base constructs a full path from the beginning till the goal point and the topic is called /move_base/GlobalPlanner/plan . The problem is that the topic continuously spams with the same path message until robot gets to the destination. How can I make to publish a single message to the topic and not spam?

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try using a service

mewbot gravatar image mewbot  ( 2018-11-06 03:01:23 -0600 )edit

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answered 2018-11-06 03:04:29 -0600

bpinaya gravatar image

Well you could use a service, that way it behaves in a request/response kind of way. Check this service nav_msgs/GetPlan from here

You'll send:

geometry_msgs/PoseStamped start

geometry_msgs/PoseStamped goal

float32 tolerance

and you'll get a:

nav_msgs/Path plan

If you need to learn more about services the wiki is your friend

Good luck!

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Okay, I got it, thanks :)

stevemartin gravatar image stevemartin  ( 2018-11-06 03:46:03 -0600 )edit

answered 2018-11-06 08:33:47 -0600

harshal gravatar image

Have you considered setting the planner frequency to 0.0 in the move_base params? This is supposed to publish the whole path just once and the planner is not invoked again (or in case the controller reports infeasible path and re planning is required).

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Asked: 2018-11-06 02:19:41 -0600

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Last updated: Nov 06 '18