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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.
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
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)
Asked: 2019-11-28 01:11:06 -0500
Seen: 1,649 times
Last updated: Nov 28 '19
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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.