Follow the straight global plan
Suppose I want to go to point B from A. Global plan initially publishes a straight plan. But whenever, a dynamic obstacle is in the path, DWA will try to drive around the obstacle.
However, I would want to stop for some time and then follow the initial global plan after the obstacle moves away from the plan. I've tried to play with goal_distance_bias, path_distance_bias and other parameters with no success. Is there some straight-forward way to classify dynamic obstacle from the cost map, so I can send zero_velocity from DWA upon detecting one?
Or do I have to write a custom local planner? If yes, could you guys point me towards something to achieve this functionality?
Edit
This question asks a similar question with no answer but some helpful comments.
@mgruhler you've answered a similar question. Could you shed some light on this?
@ashutosh08 could you please link to that specific answer (I don't know which one that was...) and detail why this doesn't answer your question or what the difference is to that question?
@mgruhler see edit. My task is to align the local planner with the initial straight global plan, and if there were any obstacles, preferably stop the robot rather than moving around.