How to make Local Planner avoid virtual walls or Fake walls in ROS 2D map?
I am using dwa local planner. I want my bot to move in a specific path when I give a goal. So i edited my map in GIMP to create virtual walls with black pixels. When I give a goal, the global plan path avoids the fake wall (I checked this by viewing the curve in Rviz). But my local planner tries to cut across the edge of the fake wall and gets stuck.
Asked by Gowresh on 2019-09-05 06:11:40 UTC
Comments
Does your local planner have a static layer enabled for it to see the fake wall?
Asked by stevemacenski on 2019-09-05 11:07:34 UTC
No. The local planner runs in pre-hydro plugins. If I add a static layer plugin, will it solve the problem?
Asked by Gowresh on 2019-09-06 01:15:10 UTC
even the local planner task is to create path that is free of obstacle from local cost map you can try adding one more virtual wall in local cost map
Asked by james P M on 2021-05-17 22:27:23 UTC