Adding a make_plan service to move_base
I need a make_plan service for move_base that takes a map as a parameter and returns the plan for the specified map, without changing the map used by move_base to compute the robot's trajectory. To clarify, I need this service as a way to choose among a set of maps.
I would appreciate any suggestions on the best way to do this.
Note that I realize there is a way to create a plugin for move_base that inherits from nav_core::BaseGlobalPlanner and set is as the 'base_global_planner' param when I launch move_base, but I prefer inheriting from move_bases's global_planner::GlobalPlanner if possible, since I only need to add functionality and would prefer using all the other methods of the original class.
I am using melodic on Ubuntu 18.04
Thank you !
PRs are always welcome.
Can you tell me what PR stands for ?
pull request, you're welcome to add that functionality and then submit for acceptance into move_base codebase.
Ok - thank you! I will try that, but I am not sure how much time that would take. Any suggestions in the meantime ? Is my only option for now to copy the code from GlobalPlanner from planner_core and add my functionality to the copied class ?