How to make Local Planner avoid virtual walls or Fake walls in ROS 2D map?

asked 2019-09-05 06:11:40 -0600

Gowresh gravatar image

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.

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Does your local planner have a static layer enabled for it to see the fake wall?

stevemacenski gravatar image stevemacenski  ( 2019-09-05 11:07:34 -0600 )edit

No. The local planner runs in pre-hydro plugins. If I add a static layer plugin, will it solve the problem?

Gowresh gravatar image Gowresh  ( 2019-09-06 01:15:10 -0600 )edit

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

james P M gravatar image james P M  ( 2021-05-17 22:27:23 -0600 )edit