Bi-Directional Navigation using Move Base for Rosbot
Hi All,
I am using ROS Kinetic on ubuntu 16.04 OS. I am working with a Rosbot(of Husarion Company) on Navigation Stack using AMCL. I am presently able to make rosbot by calling movebase.moveto_goal action. So I generated a series of points for the rosbot to move through in like patrol bot simulation as described in this link.
I noticed that the when I want rosbot move in straight line in reverse direction, the rosbot is taking curved path instead of moving to straight back like a car on reverse gear. Can you please suggest ways achieve the bi directional movement without turning ?
Asked by BV_Pradeep on 2019-11-05 02:49:00 UTC
Answers
This comes from your local planner since it is responsible for controlling the robot trajectory(publishing velocities). I am not sure if this can be disabled in BaseLocalPlanner (I am assuming you are using this one). One alternate is to use pose_follower with and configure values of turn_in_place_first
and allow_backwards
.
Asked by Choco93 on 2019-11-05 05:03:47 UTC
Comments
I am using move_base which uses base local planner. how to use pose_follower with move base ?
Asked by BV_Pradeep on 2019-11-05 06:08:48 UTC
In your move_base.launch you should have something like <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS" />
, you need to clone pose follower, build it, and replace this with <param name="base_local_planner" value="pose_follower/PoseFollower" />
Asked by Choco93 on 2019-11-05 06:13:26 UTC
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