Adding a make_plan service to move_base

asked 2019-10-17 10:25:19 -0600

skeren gravatar image

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 !

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PRs are always welcome.

stevemacenski gravatar image stevemacenski  ( 2019-10-17 12:08:46 -0600 )edit

Can you tell me what PR stands for ?

skeren gravatar image skeren  ( 2019-10-17 12:12:04 -0600 )edit

pull request, you're welcome to add that functionality and then submit for acceptance into move_base codebase.

stevemacenski gravatar image stevemacenski  ( 2019-10-17 12:29:12 -0600 )edit

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 ?

skeren gravatar image skeren  ( 2019-10-17 12:38:47 -0600 )edit