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How to send navigation goal via waypoints in move_base?

asked 2019-11-28 01:11:06 -0600

Prasun2712 gravatar image

I want to send robot using move_base to point B from point A but I want that to be done via way-points C and D. Note : I don't want to call move_base/goal three time that is for A to C, C to D and then D to B. I want the path to be generated by global planner via the way points.

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To my knowledge move_base doesn't support multiple goals. But you can write a node that publishes to goal, and in there you send waypoints one-by-one. Do a check when current goal is reached and publish a new goal.

Choco93 gravatar imageChoco93 ( 2019-11-28 02:09:35 -0600 )edit

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answered 2019-11-28 06:27:40 -0600

pavel92 gravatar image

In addition to Choco93 comment, there is a package that already has this functionality. It will wait for waypoints given as poses and when instructed, will follow them one by one by publishing goals to move_base

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answered 2019-11-28 07:40:21 -0600

bob-ROS gravatar image

updated 2019-11-28 07:46:12 -0600

I made a navfn fork (link) for this, currently a bit messy but fully functional. You use the 2D pose estimate button in rviz to send goals and it will complete these goals when within a hardcoded distance. If you use the /initialpose topic for e.g amcl you might want to remap it to something else. The behavior is to complete the subgoals before planning for the final goal.

Video of it being used (link)

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Asked: 2019-11-28 01:11:06 -0600

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Last updated: Nov 28