Sending waypoints to navigation stack
Hello,
I would like to know how to send mutliple goals to a robot that doesn't have LaseScan to create a map.
Using the diff_drive package , I managed to visualize the movement of the real robot on rviz (
diff_drive_odometry
) and to make it achieve one goal after another (diff_drive_go_to_goal
). the connection (rosserial_python) isn't perfect but the robot can achieve the goal.Now, I am want to make my robot follow a path. I saw we could use waypoints but I am not really sure about how to do this. Currently, I am subscribing to
move_base_simple/goal
to send a goal and when the robot achieves its goal, the client can send another goal but in most of the examples I saw,move_base
is used, what are the differences between these two ?
Thanks in advance,
Shanika