Stopping and waiting for an obstacle to get out of the way
Hello all,
I am currently using move_base with teb_local_planner for a swerve drive mobile robot setup. Overall, this sutup seams to be working ok and it avoids obstacles when introduced. However, I am wondering if there is a way to force the local planner following just the global plan trajectory and stop the robot if an obstacle is introduced on its way. In other words, I want to stop the robot from trying to dynamically avoid any obstacles. Also, I want the robot to resume its trajectory when the obstacle in its path is removed. Do you know if this behavior is possible to be achieved using move_base and teb_local_planner and what parameters need to be changed to do that?
Thank you in advance.
The idea of the teb_local_planner is to dynamically avoid obstacles. You are asking it to do essentially the opposite of what it is meant to do, perhaps just write a node that detects obstacles (from cost map) intersecting your path (bounding box) and send 0 command if so?