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Bi-Directional Navigation using Move Base for Rosbot

asked 2019-11-05 01:49:00 -0500

BV_Pradeep gravatar image

updated 2019-11-05 01:57:04 -0500

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 move_base.move_to_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 ?

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answered 2019-11-05 04:03:47 -0500

Choco93 gravatar image

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.

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I am using move_base which uses base local planner. how to use pose_follower with move base ?

BV_Pradeep gravatar image BV_Pradeep  ( 2019-11-05 05:08:48 -0500 )edit

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" />

Choco93 gravatar image Choco93  ( 2019-11-05 05:13:26 -0500 )edit

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Asked: 2019-11-05 01:49:00 -0500

Seen: 450 times

Last updated: Nov 05 '19